惯性导航系统动基座传递对准可观测性分析

针对机载武器惯性导航系统动基座传递对准问题，以系统原始的非线性模型为分析对象，根据可观测性的基本定义，将系统可观测性问题转化为判断系统状态量是否存在唯一解。通过分析系统各状态量的解同载体运动方式之间的关系，得出了系统各状态量可观测的充分条件，并设计了相应的机动方案。结果表明，载体在不同加速度下的平移运动可增强惯性器件误差、安装误差角和姿态的可观测性，而载体的旋转运动则有助于提高杆臂的可观测性。与传统方法不同，该方法分析过程简洁明了，且物理意义明确，为合理规划载体的机动方案提供了理论指导，同时，也为其他非线性系统的分析与设计提供了新的思路。最后，采用扩展Kalman滤波（EKF）对系统进行了仿真，仿真结果验证了理论分析结果的正确性和有效性。

Observability analysis for transfer alignment of inertial navigation system on moving base

A novel approach that starts from the basic observability definition is used to investigate the observability of the transfer alignment system on moving base. The original nonlinear state equations are analyzed directly to eliminate errors of the model. Sufficient conditions to make alignment fully observable are analytically derived. And maneuver scheme of vehicle is designed according to it. The results show that translatory motions with varying acceleration can enhance the observability of sensor bias, fix error angle and attitude, whereas angular motions are in favor of the observability of the lever arm. Different from traditional linearization-based observability studies, this kind of analysis approach is straightforward and comprehensive, with no need of nonanalytical support from numerical simulations. Besides, it has explicit physical meanings, revealing the inherent connecting link between the observability of transfer alignment system and vehicle maneuvers, and providing new insights into the analysis and design of nonlinear systems. Finally, covariance simulations with an extended Kalman filter (EKF) are carried out to estimate the states, and the numerical results accord with the theoretical analysis.