Lecture: Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering ...
Master data
Title: | Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach |
Description: | In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative Kalman filter (MEKF), have some limitations concerning their consistency, errors in the initial state estimate, and convergence performance. Symmetry-based methods, such as the equivariant filter (EqF), offer significant advantages for these points by exploiting the mathematical properties of the system - its symmetry. These filters yield faster convergence rates and robustness to wrong initial state estimates through their error definition. To demonstrate the usability of EqFs, we focus on the sensor-fusion problem with the most common sensors in outdoor robotics: global navigation satellite system (GNSS) sensors and an inertial measurement unit (IMU). We provide an implementation of such an EqF leveraging the semi-direct product of the symmetry group to derive the filter equations. To validate the practical usability of EqFs in real-world scenarios, we evaluate our method using data from all outdoor runs of the INSANE Dataset. Our results demonstrate the performance improvements of the EqF in real-world environments, highlighting its potential for enhancing state estimation for UAVs. |
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Type: | Registered lecture |
Homepage: | https://www.icar-robotics.org/ |
Event: | 2023 21st International Conference on Advanced Robotics (ICAR) (Abu Dhabi) |
Date: | 06.12.2023 |
lecture status: | stattgefunden (Präsenz) |
Participants
Martin Scheiber (internal) |
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Alessandro Fornasier (internal) |
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Christian Brommer (internal) |
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Stephan Michael Weiss (internal) |
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Assignment
Organisation | Address | ||||
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Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
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AT - 9020 Klagenfurt am Wörthersee |
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