The Observability Evaluation of the SINS Initial Alignment
It is well know that observability of the estimated states affects the performance of the Kalman filtering in the inertial navigation. In general, observability of constant system can evaluated by the rank of observability matrix, but the error model of SINS in-flight was the time-varying system, the application of regular observability analyze is difficult. Therefore, the singular-value decomposition was applied to the estimate covariance matrix of the error states. In order to investigated the relationship between the observability degree and states estimate performance, numerical experiments was performed under various maneuvers and plot the corresponding observability and state estimate variance. From the simulation results, it can be concluded that the Kalman filtering characteristic is best when the vehicle not only move with horizontal accelerate but also with yaw rate, and at the same time the observability of the system is better than the other situation.
integrated navigation SINS GPS system simulation
Ma Yuan Yang Shuxing Zhang Cheng
School of Aerospace Science and Engineering, Beijing Institute of Technology, Beijing, China, 100081
国际会议
第八届国际测试技术研讨会(8th International Symposium on Test and Measurement)
重庆
英文
2485-2488
2009-08-01（万方平台首次上网日期，不代表论文的发表时间）