This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized as three part: local increment, global state, and global increment. The global increment can be calculated in different frames such as local geodetic navigation frame and earth-centered-earth-fixed frame. The local increment which is referred as the IMU preintegration can be calculated under different assumptions according to the motion of the agent and the grade of the IMU. Thus, it more accurate and more convenient for online state estimation of inertial-integrated navigation system under different environment.

翻译：本文件提议了一个统一的数学框架,用于在不同的运动条件下将惯性辅助导航系统预先纳入不同框架的惯性测量单位(IMU),导航状态精确地分解为三部分:局部递增、全球状态和全球递增。全球递增可按不同的框架计算,如当地的大地测量导航框架和以地球为中心的固定框架。称为IMU预化的本地递增可根据代理人的动作和IMU的等级在不同假设下计算。因此,对于不同环境中的惯性综合导航系统的在线状态估算来说,这种递增更准确,更方便。