The observation analysis of the initial alignment in the warship inertial navigation system

The initial alignment is one of the key technologies in the inertial navigation system. Nowadays Kalman filter (KF) is always used in the initial alignment to evaluate the angle error, the drift of the gyroscope and the bias of the accelerator. Before the design of the KF, we have to do the observation analysis of the KF to determine the effect of the filter. At first, this paper establishes the error model based on the moving base, then uses the singular and the spectrum condition number to make the comprehensive observability analysis of the subsection continuous system both on the static base and the moving base. Then through the reduction of the error equations, we analyze the observability in the theory. We did the simulation and also make the comparison.