Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle
In response to the lack of specific demonstration and analysis of the research on the necessity of the Lie group strapdown inertial integrated navigation error model based on the Euler angle, two common integrated navigation systems, strapdown inertial navigation system/global navigation satellite s...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/20/7742 |
| _version_ | 1797470039349133312 |
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| author | Leiyuan Qian Fangjun Qin Kailong Li Tiangao Zhu |
| author_facet | Leiyuan Qian Fangjun Qin Kailong Li Tiangao Zhu |
| author_sort | Leiyuan Qian |
| collection | DOAJ |
| description | In response to the lack of specific demonstration and analysis of the research on the necessity of the Lie group strapdown inertial integrated navigation error model based on the Euler angle, two common integrated navigation systems, strapdown inertial navigation system/global navigation satellite system (SINS/GNSS) and strapdown inertial navigation system/doppler velocity log (SINS/DVL), are used as subjects, and the piecewise constant system (PWCS) matrix, based on the Lie group error model, is established. From three aspects of variance estimation, the observability and performance of the system with large misalignment angles for low, medium, and high accuracy levels, traditional error model, Lie group left error model, and right error model are compared. The necessity of research on Lie group error model is analyzed quantitatively and qualitatively. The experimental results show that Lie group error model has better stability of variance estimation, estimation accuracy, and observability than traditional error model, as well as higher practical value. |
| first_indexed | 2024-03-09T19:31:08Z |
| format | Article |
| id | doaj.art-d2f16e96e50443a28c6b9210282ed757 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T19:31:08Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-d2f16e96e50443a28c6b9210282ed7572023-11-24T02:25:01ZengMDPI AGSensors1424-82202022-10-012220774210.3390/s22207742Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler AngleLeiyuan Qian0Fangjun Qin1Kailong Li2Tiangao Zhu3College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaCollege of Electrical Engineering, Naval University of Engineering, Wuhan 430033, ChinaIn response to the lack of specific demonstration and analysis of the research on the necessity of the Lie group strapdown inertial integrated navigation error model based on the Euler angle, two common integrated navigation systems, strapdown inertial navigation system/global navigation satellite system (SINS/GNSS) and strapdown inertial navigation system/doppler velocity log (SINS/DVL), are used as subjects, and the piecewise constant system (PWCS) matrix, based on the Lie group error model, is established. From three aspects of variance estimation, the observability and performance of the system with large misalignment angles for low, medium, and high accuracy levels, traditional error model, Lie group left error model, and right error model are compared. The necessity of research on Lie group error model is analyzed quantitatively and qualitatively. The experimental results show that Lie group error model has better stability of variance estimation, estimation accuracy, and observability than traditional error model, as well as higher practical value.https://www.mdpi.com/1424-8220/22/20/7742integrated navigationlie groupnecessity of researchvariance estimationobservability |
| spellingShingle | Leiyuan Qian Fangjun Qin Kailong Li Tiangao Zhu Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle Sensors integrated navigation lie group necessity of research variance estimation observability |
| title | Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle |
| title_full | Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle |
| title_fullStr | Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle |
| title_full_unstemmed | Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle |
| title_short | Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle |
| title_sort | research on the necessity of lie group strapdown inertial integrated navigation error model based on euler angle |
| topic | integrated navigation lie group necessity of research variance estimation observability |
| url | https://www.mdpi.com/1424-8220/22/20/7742 |
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