基于不确定性的旋转地球Lie群IMU预积分
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
摘要：
最近引入的矩阵组SE 2（3）提供了一个5 × 5的矩阵表示的方向，速度和位置的对象在3-D空间，一个三元组，我们称之为“扩展姿态”。在本文中，我们建立在这个组，发展一个理论，将不确定性与5x 5矩阵表示的扩展姿势。我们的方法是特别适合于描述不确定性如何传播时，扩展的姿态表示的状态的惯性测量单元（IMU）。特别是它允许重新审视流形上的IMU预积分理论，并达到该领域的进一步理论水平。精确的预积分公式，占旋转地球，即，离心力和科里奥利力，推导出作为副产品，和因子被证明是更准确的。该方法通过广泛的仿真验证，并应用于传感器融合，其中松耦合的固定滞后平滑器使用我们的实验车在一个小时的实验中融合IMU和LiDAR。它显示了如何处理旋转的地球可能有利于增量平滑算法内的长期导航。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
