提升基于SE2(3)群的扩展卡尔曼滤波器在组合导航中的自主性：应用研究
机器人学
2026-01-27 v2 系统与控制
系统与控制
摘要
SE2(3)李群框架用于导航建模的核心优势之一在于误差传播的自主性。在先前论文中，已对惯性系、地球系和世界系下导航模型的自主性进行了理论分析。提出了一种SE2(3)群导航模型的构建方法，以改进非惯性导航模型，使其趋向完全自主。本文作为先前论文的对应篇，通过实际捷联惯导系统（SINS）/里程计（ODO）实验以及蒙特卡洛仿真，展示了改进的基于SE2(3)群的高精度导航模型的性能。
引用
@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}
}
备注
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