ERROR ESTIMATION OF INS GROUND ALIGNMENT THROUGH OBSERVABILITY ANALYSIS
ERROR ESTIMATION OF INS GROUND ALIGNMENT THROUGH OBSERVABILITY ANALYSIS
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DOI：
10.1109/7.135435
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发表时间：
1992-01-01
影响因子：
4.4
通讯作者：
LIN, YP
中科院分区：
文献类型：
--
作者：
JIANG, YF;LIN, YP
利用Bar-Itzhack和Berman误差模型，对惯性导航系统（INS）在地面对准中的可观测性进行了系统分析。结果表明，不可观测状态分别包含在两个解耦的子空间。讨论了不可观测状态选择的约束条件。提供了一种完全从水平速度输出导出的用于计算失准角的估计算法。结果表明，方位误差可以完全由水平误差和水平误差率的估计来估计，而不需要直接利用陀螺输出信号。
A systematic analysis of the observability of an inertial navigation system (INS) in ground alignment with Bar-Itzhack and Berman's error model is presented. It is shown that the unobservable states are separately contained in two decoupled subspaces. The constraints on the selection of unobservable states are discussed. An estimation algorithm which is derived fully from the horizontal velocity outputs for computing the misalignment angles is provided. It reveals that the azimuth error can be entirely estimated from the estimates of leveling error and leveling error rate, without using gyro output signals explicitly.