基于SE(3)的鲁棒自适应算法及其在SINS/DVL中的应用

钱镭源, 覃方君, 李开龙, 朱天高

Robust Adaptive Algorithm Based on SE(3) and Its Application in SINS/DVL

QIAN Leiyuan, QIN Fangjun, LI Kailong, ZHU Tiangao

表2 失准角为(0°, 0°, 0°)时的RMSE

Tab.2 RMSE at a misalignment angle of (0°, 0°, 0°)

类别 姿态误差/(°) 速度误差/ (m·s-1) 位置误差/m SO(3)TCKF 0.439 8 0.270 1 148.147 7 LSE-TCKF 0.406 3 0.272 6 145.222 0 RSE-TCKF 0.489 8 0.270 5 148.556 2