Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application
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.
Keywords
Cite
@article{arxiv.2601.16078,
title = {Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application},
author = {Maosong Wang and Jiarui Cui and Wenqi Wu and Peiqi Li and Xianfei Pan},
journal= {arXiv preprint arXiv:2601.16078},
year = {2026}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2601.16062. substantial text overlap with arXiv:2601.16062. substantial text overlap with arXiv:2601.16062. substantial text overlap with arXiv:2601.16062