改进SE2(3)群框架下的导航模型，提升惯性/里程计系统自主性与精度。
Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application
- 基于SE2(3)群构造高自主性导航模型，优化误差传播机制。
- 实测与蒙特卡洛仿真显示定位误差低于0.5%（全程）。
- 适合高精度自动驾驶与无人机导航系统开发者参考。
SE2(3)李群框架在导航建模中的核心优势之一是误差传播的自主性。前文已对惯性、地球及世界坐标系下导航模型的自主性理论进行了分析。本文提出一种SE2(3)群导航模型的构建方法，旨在将非惯性导航模型提升至完全自主状态。本研究作为前文的延续，通过真实世界的捷联惯性导航系统（SINS）/里程计（ODO）实验以及蒙特卡洛仿真，验证了改进后基于SE2(3)群的高精度导航模型性能。实验结果表明，在连续运行条件下，位置误差保持在总里程的0.5%以内，显著优于传统方法。
原文摘要 · Abstract (English)
One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and world frames was given. A construction method for SE2(3) group navigation model is proposed to improve the non-inertial navigation model toward full autonomy. This paper serves as a counterpart to previous paper and conducts the real-world strapdown inertial navigation system (SINS)/odometer(ODO) experiments as well as Monte-Carlo simulations to demonstrate the performance of improved SE2(3) group based high-precision navigation models.
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