This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the position of one receiver and the relative position between the two receivers is left invariant, enabling the use of the invariant extended Kalman filter (IEKF) framework. The IEKF possesses various advantages over the standard multiplicative extended Kalman filter, such as state-estimate-independent Jacobians. Monte Carlo simulations demonstrate that the two-receiver IEKF approach yields improved estimates over a two-receiver multiplicative extended Kalman filter (MEKF) and a single-receiver IEKF approach. An experiment further validates the proposed approach, confirming that the two-receiver IEKF has improved performance over the other filters considered.

中文翻译：

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使用两个位置接收器的不变扩展卡尔曼滤波用于扩展姿态估计

本文考虑使用两个位置接收器和一个惯性测量单元（IMU）来估计刚体的位置，速度和姿态，这统称为扩展姿态。由一个接收器的位置和两个接收器之间的相对位置组成的测量模型保持不变，从而可以使用不变扩展卡尔曼滤波器（IEKF）框架。与标准乘法扩展卡尔曼滤波器相比，IEKF具有各种优势，例如独立于状态估计的雅可比行列式。蒙特卡洛仿真证明，与两接收器的乘积扩展卡尔曼滤波器（MEKF）和单接收器的IEKF方法相比，两接收器的IEKF方法产生的估计值得到了改善。实验进一步验证了所提出的方法，