Equivariant filtering framework for inertial-integrated navigation

This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As the kinematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE 2 (3), the symmetry of the Lie group can be exploited to design an equivariant...

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Bibliographic Details
Published in:Satellite navigation 2021-12, Vol.2 (1), p.1-17, Article 30
Main Authors: Luo, Yarong, Guo, Chi, Liu, Jingnan
Format: Article
Language:English
Subjects:
Accelerometers
Algebra
Autonomous error
Engineering
Equivariant filtering
Group-affine dynamic
Inertial-integrated navigation
Invariant system
Kinematics
Lie groups
Navigation systems
Navigation Technologies for Autonomous Systems
Original Article
Robotics
SE 2 matrix Lie group
System theory
Velocity
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Summary:This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As the kinematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE 2 (3), the symmetry of the Lie group can be exploited to design an equivariant filter which extends the invariant extended Kalman filtering on the group-affine system and overcomes the inconsitency issue of the traditional extend Kalman filter. We firstly formulate the inertial-integrated dynamics as the group-affine systems. Then, we prove the left equivariant properties of the inertial-integrated dynamics. Finally, we design an equivariant filtering framework on the earth-centered earth-fixed frame and the local geodetic navigation frame. The experiments show the superiority of the proposed filters when confronting large misalignment angles in Global Navigation Satellite Navigation (GNSS)/Inertial Navigation System (INS) loosely integrated navigation experiments.
ISSN:2662-1363
2662-1363
DOI:10.1186/s43020-021-00061-z