GPS/SINS组合导航系统状态的可观测度分析方法

系统状态的可观测度是检验所设计的Kalman滤波器的收敛精度和速度的重要指标。首先，分别论述分段式定常系统(PWCS)的可观测性分析方法和基于奇异值分解的系统状态可观测度分析方法。然后，证明GPS／SINS组合导航系统满足PWCS分析定理要求，并进一步提出改进的线性时变系统状态的可观测度分析方法，以适用于分析全弹道过程系统状态的可观测度。最后，通过仿真算例说明该方法的合理性和可行性。

A Method of the Observable Degree Analysis of Integrated GPS/SINS Navigation System

The observable degrees of the system states are the key indexes to check the convergence accuracy and velocity of designed Kalman filter. First, the observability analysis method of piece-wise constant system(PWCS)and the observable degree analysis method of the system states based on the singular value decomposition are described respectively in this paper. And then the integrated GPS/SINS navigation system can be demonstrated to meet the law of PWCS analysis method. In order to analyze the observable degrees of linear varying-time system states along a whole trajectory, the modified analysis method will be presented further. Finally, its rationality and feasibility can be shown by a simulating example.