This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group S...This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE_(2)(3),the sym-metry 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.展开更多
针对接收机在强干扰高动态环境难以定位导航的问题,提出基于惯导速度辅助卫星跟踪环路算法,通过惯导速度估算环路多普勒频移,压缩了环路需承载的动态范围,从而减少了环路等效噪声带宽,进而降低了跟踪环路带内干扰,提高了卫星接收机抗干...针对接收机在强干扰高动态环境难以定位导航的问题,提出基于惯导速度辅助卫星跟踪环路算法,通过惯导速度估算环路多普勒频移,压缩了环路需承载的动态范围,从而减少了环路等效噪声带宽,进而降低了跟踪环路带内干扰,提高了卫星接收机抗干扰能力。对提出算法的普适性、动态性、抗干扰性以及惯导估算误差影响等方面进行了仿真评估,仿真结果验证了算法的正确性,同时证明提出算法相比传统算法,载体运动加速度由91g提升至193g,同时抗干扰能力提升5~8 d B,可以容忍较大惯导辅助信息误差,为算法工程化奠定了基础。展开更多
基金a grant from the National Key Research and Development Program of China(2018YFB1305001).
文摘This paper proposes an Equivariant Filtering(EqF)framework for the inertial-integrated state estimation.As the kin-ematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE_(2)(3),the sym-metry 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.
文摘针对接收机在强干扰高动态环境难以定位导航的问题,提出基于惯导速度辅助卫星跟踪环路算法,通过惯导速度估算环路多普勒频移,压缩了环路需承载的动态范围,从而减少了环路等效噪声带宽,进而降低了跟踪环路带内干扰,提高了卫星接收机抗干扰能力。对提出算法的普适性、动态性、抗干扰性以及惯导估算误差影响等方面进行了仿真评估,仿真结果验证了算法的正确性,同时证明提出算法相比传统算法,载体运动加速度由91g提升至193g,同时抗干扰能力提升5~8 d B,可以容忍较大惯导辅助信息误差,为算法工程化奠定了基础。
