惯导系统可观测性及最佳可观测子空间的定量研究

应用结构分解理论及奇异值分解法对惯导系统（INS）误差模型的可观测性进行了全面分析。研究了一种基于可观测性定义及奇异值分解法结合的定量确定惯导系统可观测性及可观测度的方法，明确了惯导系统的三个最佳不可观测状态组合；应用线性控制系统的Kalman典范结构分解定理，确定了惯导系统的最佳观测子系统。此项研究成果，为进一步研究INS的快速精确对准及标定技术奠定了理论基础。

Quantificational Analysis the Observability and the Best Observable Son-Space of Inertial Navigation System

The determination of unobservable states during initial alignment process is very important in consideration of system performance.Generally,the system state variables can be transformed into the observable canonical form.However,the choice of observable or unobservable states is not unique since the number of transformations are innumerable.In this paper,a novel analyzing method of observability was creatively proposed for the inertial navigation system(INS).The observability of INS were federally analyzed by means of the decompose theory of the linear control system and the singular value decomposition method.All kinds of the states combination which influencing the observability of INS were deeply studied and thoroughly analyzed.The three optimally unobservable states of INS were verified by means the singular value decomposition method.Consequently,the best observable son-space of INS had been received.That has established an academic base for farther studying a fast and precise initial alignment method for the INS.