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

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 20; p. 7742
• Main Authors: Qian, Leiyuan, Qin, Fangjun, Li, Kailong, Zhu, Tiangao
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 12.10.2022; MDPI
• Subjects: Analysis; Artificial satellites; Electronics in navigation; Error analysis; Euler angles; Global navigation satellite system; Inertial navigation; Inertial navigation (Aeronautics); integrated navigation; lie group; Lie groups; Misalignment; Navigation systems; necessity of research; observability; Strapdown inertial navigation; variance estimation; Velocity; China
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s22207742

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.