论文标题
将不确定性与lie grout imu预先整合的扩展姿势与旋转地球相关联
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
论文作者
论文摘要
最近引入的矩阵组SE2（3）为对象在3-D空间中的方向，速度和位置提供了一个5x5矩阵表示，我们称为“扩展姿势”的三重态。在本文中，我们在该小组的基础上建立了一个理论，将不确定性与5x5矩阵代表的扩展姿势相关联。我们的方法特别适合描述当扩展姿势代表惯性测量单元（IMU）的状态时，不确定性如何传播。特别是，它允许重新审视IMU在多种多样的综合理论，并在该领域达到进一步的理论水平。确切的预一合一公式解释了旋转地球，即离心力和科里奥利力，被推导为副产品，并且这些因素被证明更准确。该方法通过广泛的模拟验证，并应用于传感器融合，在一个小时的实验中，在一个小时的实验中，在一个小时的实验中，松散耦合的固定滞后光滑的Fuses IMU和LIDAR验证。它显示了处理旋转的地球如何有益于增量平滑算法中的长期导航。
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extended pose". In this paper we build on this group to develop a theory to associate uncertainty with extended poses represented by 5x5 matrices. Our approach is particularly suited to describe how uncertainty propagates when the extended pose represents the state of an Inertial Measurement Unit (IMU). In particular it allows revisiting the theory of IMU preintegration on manifold and reaching a further theoretic level in this field. Exact preintegration formulas that account for rotating Earth, that is, centrifugal force and Coriolis force, are derived as a byproduct, and the factors are shown to be more accurate. The approach is validated through extensive simulations and applied to sensor-fusion where a loosely-coupled fixed-lag smoother fuses IMU and LiDAR on one hour long experiments using our experimental car. It shows how handling rotating Earth may be beneficial for long-term navigation within incremental smoothing algorithms.
