Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application

2026-01-22

AI Summary

This work proposes a novel navigation model based on the SE(2,3) Lie group to address the insufficient modeling accuracy and autonomy in SINS/ODO integrated navigation under non-inertial conditions. By constructing an SE(2,3) group structure tailored to non-inertial frames, the method refines the error propagation mechanism across inertial, Earth-fixed, and world coordinate systems, enabling more comprehensive autonomous error modeling. The approach is tightly integrated with an extended Kalman filter for state estimation. Both real-world vehicle experiments and Monte Carlo simulations demonstrate that the proposed method significantly enhances navigation accuracy and robustness, confirming its effectiveness in practical scenarios.

Technology Category

• Intelligent Robots: State Estimation
• Planning, Routing, and Scheduling: Model-Based Reasoning
• Search and Optimization: Non-convex Optimization

Application Category

• Semantics and Knowledge: Methods to enhance, augment, integrate or synergize semantic models such as knowledge graphs and LLMs
• Systems and Infrastructure for Web, Mobile and WoT: Location- and context-aware Web and WoT applications and services
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

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.

Problem

• SE2(3)
• autonomy
• Extended Kalman Filter
• Integrated Navigation
• error propagation

Innovation

• SE2(3) Lie group
• autonomous error propagation
• inertial navigation
• SINS/ODO integration
• Monte-Carlo simulation