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

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.