IMU誤差伝播の数学的枠組みとプリインテグレーションへの応用
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration
リー群SE_2(3)の対数線形性を利用し、IMUの位置・速度・姿勢の誤差伝播を厳密にモデル化する手法を提案。地球自転効果を含む正確なプリインテグレーション公式を導出した。
著者: Axel Barrau, Silvere Bonnabel
分類: cs.RO
原文アブストラクト
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.
