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

图1 SE(3)RATCKF具体步骤

Fig.1 Specific steps of SE(3)RATCKF