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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.16078 |
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| _version_ | 1866917223113687040 |
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| author | Wang, Maosong Cui, Jiarui Wu, Wenqi Li, Peiqi Pan, Xianfei |
| author_facet | Wang, Maosong Cui, Jiarui Wu, Wenqi Li, Peiqi Pan, Xianfei |
| contents | One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and world frames was given. A construction method for SE2(3) group navigation model is proposed to improve the non-inertial navigation model toward full autonomy. This paper serves as a counterpart to previous paper and conducts the real-world strapdown inertial navigation system (SINS)/odometer(ODO) experiments as well as Monte-Carlo simulations to demonstrate the performance of improved SE2(3) group based high-precision navigation models. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_16078 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application Wang, Maosong Cui, Jiarui Wu, Wenqi Li, Peiqi Pan, Xianfei Robotics Systems and Control One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and world frames was given. A construction method for SE2(3) group navigation model is proposed to improve the non-inertial navigation model toward full autonomy. This paper serves as a counterpart to previous paper and conducts the real-world strapdown inertial navigation system (SINS)/odometer(ODO) experiments as well as Monte-Carlo simulations to demonstrate the performance of improved SE2(3) group based high-precision navigation models. |
| title | Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2601.16078 |