Observability of Geomagnetism/GPS/SINS Integration During Maneuvers
Observability of Geomagnetism/Global Positioning System/strapdown inertial navigation system (Geomagnetism/GPS/SINS) integrated system was analyzed during maneuvers. Instantaneous observability was adopted for the observability analysis of time-invariant and time-varying system. When there was no rotation relative to the Earth and the linear acceleration was constant, the system model became time-invariant. Observability analysis results show that there are at least one and at most two instantaneous unobservablestates inthetimeinvariant Geomagnetism/GPS/SINS system, which are at least three in the time-invariant GPS/SINS system. The observability of time-varying system was analyzed for two types of maneuvers, nonconstant accelerating maneuvers and constant angular rate turn maneuvers. The sufficient conditions for instantaneous observability of system are presented for these two maneuvers. And the necessary condition for instantaneous observability is presented for nonconstant accelerating maneuvers. It is shown that the appropriate maneuver can enhance the instantaneous observability of system and all the states in Geomagnetism/GPS/SINS integrated system can be made instantaneous observable by appropriate maneuver.
GeomagnetismNavigation Intergratcd Navigation Observability
Hongqian Lu Mingming Li Zhengmin Chen Xianlin Huang
Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin, China
国际会议
2011 3rd International Conference on Advanced Computer Control(2011年IEEE第三届高端计算机控制国际会议 ICACC2011)
哈尔滨
英文
604-609
2011-01-18（万方平台首次上网日期，不代表论文的发表时间）