Abstract
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.
Abstract (translated)
SE2(3)李群框架在导航建模中的一个核心优势在于误差传播的自主性。在之前的论文中，已经对惯性系、地球系和世界坐标系下导航模型的自主性质进行了理论分析。本文提出了一种构建SE2(3)群导航模型的方法，以改进非惯性导航模型并实现完全自主化。该文作为前一论文的补充，通过真实世界的捷联惯性导航系统(SINS)/里程计(ODO)实验以及蒙特卡洛模拟来展示基于改进后的SE2(3)群高精度导航模型的性能。
URL
https://arxiv.org/abs/2601.16078
