One of core advantages of the SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. Current research on Lie group based extended Kalman filters has demonstrated that error propagation autonomy holds in low-precision applications, such as in micro electromechanical system (MEMS) based integrated navigation without considering earth rotation and inertial device biases. However, in high-precision navigation state estimation, maintaining autonomy is extremely difficult when considering with earth rotation and inertial device biases. This paper presents the theoretical analysis on the autonomy of SE2(3) group based high-precision navigation models under inertial, earth and world frame respectively. Through theoretical analysis, we find that the limitation of the traditional, trivial SE2(3) group navigation modeling method is that the presence of Coriolis force terms introduced by velocity in non-inertial frame. Therefore, a construction method for SE2(3) group navigation models is proposed, which brings the navigation models closer to full autonomy.

翻译：基于SE2(3)李群的导航建模框架的核心优势之一在于误差传播的自主性。当前基于李群的扩展卡尔曼滤波器研究表明，在低精度应用（例如不考虑地球自转和惯性器件偏差的微机电系统组合导航）中，误差传播自主性成立。然而，在高精度导航状态估计中，当考虑地球自转和惯性器件偏差时，保持自主性极为困难。本文分别对惯性系、地球系和世界系下基于SE2(3)群的高精度导航模型的自主性进行了理论分析。通过理论分析，我们发现传统、平凡的SE2(3)群导航建模方法的局限性在于非惯性系中由速度引入的科里奥利力项的存在。因此，本文提出了一种SE2(3)群导航模型的构建方法，使导航模型更接近于完全自主。