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7 不同改进策略的RMSE

Tab.7 RMSE of different improvement strategies

类别 姿态误差/(°) 速度误差/ (m·s-1) 位置误差/m LSE-HTCKF 0.395 9 0.077 6 54.716 3 RSE-HTCKF 0.454 4 0.074 1 53.266 1 LSE-MCCTCKF 0.401 0 0.073 3 58.292 8 RSE-MCCTCKF 0.519 3 0.091 8 59.957 5 LSE-RATCKF 0.388 5 0.071 3 48.036 3 RSE-RATCKF 0.474 8 0.071 1 46.755 7