在以地球为中心的惯性坐标系中,SINS及其错误的运动模型在SE(3) 组上
Ke Fang1, Tijing Cai1, Bo Wang2
1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China.
Sensors (Basel, Switzerland)
|June 27, 2024
概括
这项研究建立了SE(3) 组上Strapdown惯性导航系统 (SINS) 的新动力模型. 这些模型提高了立场估计的准确性和稳定性,特别是在较大的初始失调角度.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 导航系统 导航系统
- 惯性导航 惯性导航 惯性导航
背景情况:
- 紧式惯性导航系统 (SINS) 对于准确的定位和态度确定至关重要.
- 传统的SINS模型面临着高机动性和参考框架不一致性的挑战.
- 在SE(3) 组提供了一个强大的数学框架来表示刚性身体运动和错误.
研究的目的:
- 在SE(3) 组框架内建立SINS及其错误的高级动力学模型.
- 为了解决和减轻因参考坐标系不一致而产生的错误.
- 引入一种新的态度错误定义,以改善错误来源的脱.
主要方法:
- 使用SE(3) 组来共同表示态度和速度.
- 应用高阶贝克-坎贝尔-豪斯多夫扩展来补偿非交换性运动错误.
- 导出左和右不变误差的动力学,无论是n-frame还是b-frame.
- 引入一种新的态度错误定义,以分离影响因素.
主要成果:
- 在以地球为中心的惯性 (ECI) 框架中开发了SINS及其错误在SE(3) 组上的动力模型.
- 在高机动性期间成功补偿了非交换性运动错误.
- 证明了更好的姿态估计,特别是在转角度的准确性,即使有很大的初始错位.
- 通过转盘和车载实地实验验证了模型的有效性.
结论:
- 拟议的SE(3) 基于组的动力学模型提高了SINS态度估计的准确性和稳定性.
- 新的错误定义有效地分离了影响n-frame和b-frame动态的因素.
- 与传统的SE(3) 基于组的方法相比,这些模型提供了更高的性能,特别是在具有挑战性的动态场景中.
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