Title :
Analysis on observability of SINS/GPS
Author :
Zhang, Ting ; Wang, Bo ; Han, Zhigang ; Li, Jun
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., China
Abstract :
The purpose of analysis on observability of the system is to estimate the efficient of Kalman filter. This paper sets up the mathematical model of Strapdown Inertial Navigation System and Global Positioning System integrated system (SINS/GPS), and then investigates the observability degrees of SINS/GPS basing on singular value decomposition and the method of the eigenvalues and eigenvectors. The simulation shows that the two methods are all effective to find out the unobservable states and their characters are very different, consequently establishing the academic base for further study on a fast and precise initial alignment method for the SINS/GPS.
Keywords :
Global Positioning System; Kalman filters; eigenvalues and eigenfunctions; inertial navigation; observability; singular value decomposition; GPS; Global Positioning System; Kalman filter; Strapdown Inertial Navigation System; eigenvalues and eigenvectors; initial alignment method; observability; singular value decomposition; Automatic control; Eigenvalues and eigenfunctions; Global Positioning System; Inertial navigation; Mathematical model; Observability; Silicon compounds; Singular value decomposition;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1340918
