论文标题
IMU错误传播的数学框架，并具有用于预一体化的应用程序
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration
论文作者
论文摘要
要将惯性测量单元（IMU）与其他传感器融合的信息需要一个准确的模型，以在位置，速度和方向上融合IMU误差传播的准确模型，这是我们称为扩展姿势的三重态。 In this paper we leverage a nontrivial result, namely log-linearity of inertial navigation equations based on the recently introduced Lie group $SE_2(3)$, to transpose the recent methodology of Barfoot and Furgale for associating uncertainty with poses (position, orientation) of $SE(3)$ when using noisy wheel speeds, to the case of extended poses (position, velocity, orientation) of $ SE_2（3）$使用嘈杂的Imus。此外，我们的扩展姿势的方法与对数线性属性相结合，可以重新审视流形的预一体化理论，并在该领域达到进一步的理论水平。我们显示出说明旋转土的确切预一体化公式，即离心力和科里奥利效应，可以推导为副产品。
To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a nontrivial result, namely log-linearity of inertial navigation equations based on the recently introduced Lie group $SE_2(3)$, to transpose the recent methodology of Barfoot and Furgale for associating uncertainty with poses (position, orientation) of $SE(3)$ when using noisy wheel speeds, to the case of extended poses (position, velocity, orientation) of $SE_2(3)$ when using noisy IMUs. Besides, our approach to extended poses combined with log-linearity property allows revisiting the theory of preintegration on manifolds and reaching a further theoretic level in this field. We show exact preintegration formulas that account for rotating Earth, that is, centrifugal force and Coriolis effect, may be derived as a byproduct.
