One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and world frames was given. A construction method for SE2(3) group navigation model is proposed to improve the non-inertial navigation model toward full autonomy. This paper serves as a counterpart to previous paper and conducts the real-world strapdown inertial navigation system (SINS)/odometer(ODO) experiments as well as Monte-Carlo simulations to demonstrate the performance of improved SE2(3) group based high-precision navigation models.

翻译：SE2(3)李群框架用于导航建模的核心优势之一在于误差传播的自主性。在前期论文中，已对惯性系、地球系与世界系中导航模型的自主性进行了理论分析。本文提出了一种SE2(3)群导航模型的构建方法，旨在提升非惯性导航模型以实现完全自主性。本文作为前期论文的对应研究，通过实际捷联惯性导航系统(SINS)/里程计(ODO)实验以及蒙特卡洛仿真，验证了改进的基于SE2(3)群的高精度导航模型的性能。