Equivariant filtering framework for inertial-integrated navigation
Abstract 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 SE2(3), the symmetry of the Lie group can be exploited to design an equiv...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Luo, Yarong [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2021 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s) 2021 |
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| Übergeordnetes Werk: |
Enthalten in: Satellite navigation - Cham : Springer Nature Switzerland AG, 2020, 2(2021), 1 vom: 27. Dez. |
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| Übergeordnetes Werk: |
volume:2 ; year:2021 ; number:1 ; day:27 ; month:12 |
| Links: |
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| DOI / URN: |
10.1186/s43020-021-00061-z |
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SPR045842914 |
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| 520 | |a Abstract 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 SE2(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. | ||
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10.1186/s43020-021-00061-z doi (DE-627)SPR045842914 (SPR)s43020-021-00061-z-e DE-627 ger DE-627 rakwb eng Luo, Yarong verfasserin aut Equivariant filtering framework for inertial-integrated navigation 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2021 Abstract 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 SE2(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. (3) matrix Lie group (dpeaa)DE-He213 Inertial-integrated navigation (dpeaa)DE-He213 Equivariant filtering (dpeaa)DE-He213 Group-affine dynamic (dpeaa)DE-He213 Invariant system (dpeaa)DE-He213 Autonomous error (dpeaa)DE-He213 Guo, Chi (orcid)0000-0003-2022-2121 aut Liu, Jingnan aut Enthalten in Satellite navigation Cham : Springer Nature Switzerland AG, 2020 2(2021), 1 vom: 27. Dez. (DE-627)1696030285 (DE-600)3018439-3 2662-1363 nnns volume:2 year:2021 number:1 day:27 month:12 https://dx.doi.org/10.1186/s43020-021-00061-z kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4700 AR 2 2021 1 27 12 |
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10.1186/s43020-021-00061-z doi (DE-627)SPR045842914 (SPR)s43020-021-00061-z-e DE-627 ger DE-627 rakwb eng Luo, Yarong verfasserin aut Equivariant filtering framework for inertial-integrated navigation 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2021 Abstract 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 SE2(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. (3) matrix Lie group (dpeaa)DE-He213 Inertial-integrated navigation (dpeaa)DE-He213 Equivariant filtering (dpeaa)DE-He213 Group-affine dynamic (dpeaa)DE-He213 Invariant system (dpeaa)DE-He213 Autonomous error (dpeaa)DE-He213 Guo, Chi (orcid)0000-0003-2022-2121 aut Liu, Jingnan aut Enthalten in Satellite navigation Cham : Springer Nature Switzerland AG, 2020 2(2021), 1 vom: 27. Dez. (DE-627)1696030285 (DE-600)3018439-3 2662-1363 nnns volume:2 year:2021 number:1 day:27 month:12 https://dx.doi.org/10.1186/s43020-021-00061-z kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4700 AR 2 2021 1 27 12 |
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10.1186/s43020-021-00061-z doi (DE-627)SPR045842914 (SPR)s43020-021-00061-z-e DE-627 ger DE-627 rakwb eng Luo, Yarong verfasserin aut Equivariant filtering framework for inertial-integrated navigation 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2021 Abstract 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 SE2(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. (3) matrix Lie group (dpeaa)DE-He213 Inertial-integrated navigation (dpeaa)DE-He213 Equivariant filtering (dpeaa)DE-He213 Group-affine dynamic (dpeaa)DE-He213 Invariant system (dpeaa)DE-He213 Autonomous error (dpeaa)DE-He213 Guo, Chi (orcid)0000-0003-2022-2121 aut Liu, Jingnan aut Enthalten in Satellite navigation Cham : Springer Nature Switzerland AG, 2020 2(2021), 1 vom: 27. Dez. (DE-627)1696030285 (DE-600)3018439-3 2662-1363 nnns volume:2 year:2021 number:1 day:27 month:12 https://dx.doi.org/10.1186/s43020-021-00061-z kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4700 AR 2 2021 1 27 12 |
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10.1186/s43020-021-00061-z doi (DE-627)SPR045842914 (SPR)s43020-021-00061-z-e DE-627 ger DE-627 rakwb eng Luo, Yarong verfasserin aut Equivariant filtering framework for inertial-integrated navigation 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2021 Abstract 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 SE2(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. (3) matrix Lie group (dpeaa)DE-He213 Inertial-integrated navigation (dpeaa)DE-He213 Equivariant filtering (dpeaa)DE-He213 Group-affine dynamic (dpeaa)DE-He213 Invariant system (dpeaa)DE-He213 Autonomous error (dpeaa)DE-He213 Guo, Chi (orcid)0000-0003-2022-2121 aut Liu, Jingnan aut Enthalten in Satellite navigation Cham : Springer Nature Switzerland AG, 2020 2(2021), 1 vom: 27. Dez. (DE-627)1696030285 (DE-600)3018439-3 2662-1363 nnns volume:2 year:2021 number:1 day:27 month:12 https://dx.doi.org/10.1186/s43020-021-00061-z kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4700 AR 2 2021 1 27 12 |
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10.1186/s43020-021-00061-z doi (DE-627)SPR045842914 (SPR)s43020-021-00061-z-e DE-627 ger DE-627 rakwb eng Luo, Yarong verfasserin aut Equivariant filtering framework for inertial-integrated navigation 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2021 Abstract 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 SE2(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. (3) matrix Lie group (dpeaa)DE-He213 Inertial-integrated navigation (dpeaa)DE-He213 Equivariant filtering (dpeaa)DE-He213 Group-affine dynamic (dpeaa)DE-He213 Invariant system (dpeaa)DE-He213 Autonomous error (dpeaa)DE-He213 Guo, Chi (orcid)0000-0003-2022-2121 aut Liu, Jingnan aut Enthalten in Satellite navigation Cham : Springer Nature Switzerland AG, 2020 2(2021), 1 vom: 27. Dez. (DE-627)1696030285 (DE-600)3018439-3 2662-1363 nnns volume:2 year:2021 number:1 day:27 month:12 https://dx.doi.org/10.1186/s43020-021-00061-z kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4700 AR 2 2021 1 27 12 |
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Enthalten in Satellite navigation 2(2021), 1 vom: 27. Dez. volume:2 year:2021 number:1 day:27 month:12 |
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Luo, Yarong |
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Abstract 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 SE2(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. © The Author(s) 2021 |
| abstractGer |
Abstract 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 SE2(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. © The Author(s) 2021 |
| abstract_unstemmed |
Abstract 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 SE2(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. © The Author(s) 2021 |
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| score |
7.39849 |