Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application
About
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.
Maosong Wang, Jiarui Cui, Wenqi Wu, Peiqi Li, Xianfei Pan• 2026
Related benchmarks
| Task | Dataset | Result | Rank | |
|---|---|---|---|---|
| SINS/ODO Integrated Navigation | Monte-Carlo Simulation | Horizontal Position RMSE (m)23.04 | 13 | |
| SINS/ODO Integrated Navigation | SINS/ODO real-world trajectory dataset (Trajectory 2) | Horizontal Position RMSE (m)20.1 | 5 | |
| SINS/ODO Integrated Navigation | SINS/ODO real-world trajectory dataset (Trajectory 3) | Horizontal Position RMSE (m)71.6 | 5 | |
| SINS/ODO Integrated Navigation | SINS/ODO (Trajectory 5) | Horizontal Position RMSE (m)73.8 | 5 | |
| SINS/ODO Integrated Navigation | SINS/ODO real-world trajectory dataset (Trajectory 6) | Horizontal Position RMSE (m)33.5 | 5 | |
| SINS/ODO Integrated Navigation | SINS/ODO real-world trajectory dataset (Average) | Horizontal Position RMSE (m)42.7 | 5 | |
| SINS/ODO Integrated Navigation | SINS/ODO real-world (Trajectory 1) | Horizontal Position RMSE (m)31.6 | 5 | |
| SINS/ODO Integrated Navigation | SINS ODO (Trajectory 4) | Horizontal Position RMSE (m)13.7 | 5 |
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