On Covariance Switch-Based Invariant Extended Kalman Filter for Multi-Source Fusion  

作　　者：Jiale Han Wei Ouyang Maoran Zhu Yuanxin Wu 

机构地区：[1]School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,800 Dongchuan Rd.,Shanghai 200240,P.R.China

出　　处：《Guidance, Navigation and Control》2024年第4期146-171,共26页制导、导航与控制(英文)

基　　金：supported by National Key R&D Program(2022YFB3903802);National Natural Science Foundation(62303310,62273228)

摘　　要：The good estimation consistency of Invariant Extended Kalman Filter(InEKF)is mainly attributed to its excellent trajectory-independent property.However,when the InEKF is applied to multi-source inertial-based navigation that coexists left-invariant and right-invariant observations,the observation matrix would be unavoidably trajectory-dependent and might lead to the degradation of estimation performance.This paper for the first time performs theoretical analyses on the covariance switch between the left error and the right error in multi-source inertial-based navigation.Furthermore,detailed realizations of the covariance switch-based InEKF are formulated in this work,which are lacked in previous works.Numerical simulations and experiments demonstrate that the covariance switch significantly reduces the attitude errors during the transient phase in contrast with the original method using the incompatible error definition.

关 键 词：Covariance switch invariant extended Kalman filter inertial-based navigation multi-source integrated navigation 

分 类 号：TN713[电子电信—电路与系统]