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3 失准角为(5°, 5°, 10°)时的RMSE

Tab.3 RMSE at a misalignment angle of (5°, 5°, 10°)

类别 姿态误差/(°) 速度误差/ (m·s-1) 位置误差/m SO(3)TCKF 5.721 6 0.282 3 168.388 0 LSE-TCKF 2.886 4 0.280 0 130.768 1 RSE-TCKF 3.762 9 0.291 6 112.626 6