異なる幾何学的誤差定義に基づくINS/ZUPTフィルタリング手法の精度評価
Accuracy Evaluation of INS/ZUPT Filtering Methods Based on Different Geometric Error Definitions
慣性航法と零速度更新を組み合わせた測位において、幾何学的誤差定義に基づく各種フィルタの精度と一貫性を比較評価した論文。
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著者: Wei Ouyang, Jiale Han, Yarong Luo, Maoran Zhu
分類: cs.RO
原文アブストラクト
Geometric filters have recently been introduced to improve the accuracy and consistency of inertial-based integrated navigation systems. Error states were defined through specific group operations, introducing state correlations in error definition, which were lacked in the additive error used by a conventional indirect Kalman filter. The desirable consistent filtering models can be obtained based on specific geometric errors. For zero-velocity measurements expressed in the reference frame, this paper derives left-error process and measurement models from invariant filtering, two-frame-group filtering, and equivariant filtering. Importantly, a new group operation is introduced for the left tangent-group equivariant error. The analysis shows that the two-frame-group invariant extended Kalman filter (TFG-IEKF) and the tangent-group equivariant filter (TG-EqF) do not offer a significant consistency advantage over the invariant extended Kalman filter (IEKF). Experiments with an INS/ZUPT measurement system show that, under small initial attitude errors, the conventional indirect extended Kalman filter (EKF) achieves loop-closure position errors below $0.1\%$ of the traveled distance, while the three geometric filters achieve comparable positioning accuracy.