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Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle.

Leiyuan Qian1, Fangjun Qin1, Kailong Li1

  • 1College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China.

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|October 27, 2022
PubMed
Summary

The Lie group error model offers superior stability, accuracy, and observability for integrated navigation systems compared to traditional models. This research demonstrates its practical value in strapdown inertial navigation systems (SINS/GNSS, SINS/DVL).

Keywords:
integrated navigationlie groupnecessity of researchobservabilityvariance estimation

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Area of Science:

  • Navigation Systems Engineering
  • Control Theory
  • Robotics

Background:

  • Traditional Euler angle-based error models for strapdown inertial navigation systems (SINS) lack specific analysis regarding their necessity.
  • Integrated navigation systems like SINS/GNSS and SINS/DVL commonly employ these traditional models.

Purpose of the Study:

  • To quantitatively and qualitatively analyze the necessity of Lie group error models for integrated navigation.
  • To compare the performance of traditional error models with Lie group left and right error models.

Main Methods:

  • Established a piecewise constant system (PWCS) matrix based on the Lie group error model.
  • Compared variance estimation, observability, and system performance for low, medium, and high accuracy levels with large misalignment angles.
  • Evaluated traditional error models against Lie group left and right error models.

Main Results:

  • The Lie group error model demonstrated superior stability in variance estimation.
  • Lie group error models showed improved estimation accuracy and observability compared to traditional models.
  • Experimental results confirmed the higher practical value of the Lie group error model.

Conclusions:

  • The Lie group error model is necessary and offers significant advantages over traditional error models for integrated navigation.
  • Lie group error models provide enhanced performance, stability, and accuracy, particularly in scenarios with large misalignment angles.
  • This research validates the practical utility and superiority of Lie group error models in modern navigation systems.