Enhanced LG-EKF Backtracking Framework for Body-velocity-aided Vehicular Integrated Navigation
IEEE Transactions on Vehicular Technology(2024)
Abstract
High accuracy in-motion alignment and integrated navigation with assistant of body-velocity is a nonlinear state estimation problem as existence of attitude. The Extended Kalman filter (EKF) is a frequently used tool but criticized for its inconsistency problem especially with large initial misalignment angle, which hinders the improvement of navigation accuracy. This paper proposes a backtracking in-motion alignment framework using enhanced Lie group (LG-EKF-w) to replace troublesome EKF. The LG-EKF-w captures the nature of 3-dimension rigid body motion, which guarantees the inconsistency and improves the accuracy of state estimation. Land and sea field experiments evaluates the performance of LG-EKF-w compared to EKF, state transformation extended Kalman filter (ST-EKF) and LG-EKF-i. The results show that LG-EKF-w has faster initial alignment speed compared to EKF and better positioning accuracy under badly aligned conditions.
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Key words
Integrated navigation,Kalman filter,LG-EKF,velocity-aided,SINS/ODO,SINS/DVL
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