This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group S...This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE_(2)(3),the sym-metry 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.展开更多
基金a grant from the National Key Research and Development Program of China(2018YFB1305001).
文摘This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE_(2)(3),the sym-metry 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.
