基于“速度+姿态”快速传递对准的可观测性分析

惯导系统初始对准一般采用卡尔曼滤波器对初始姿态误差角进行估计,而在设计卡尔曼滤波器之前通常要对系统进行可观测性分析,确定卡尔曼滤波器的效果。捷联惯导系统的卡尔曼滤波模型在传递对准时,为线性时变系统,而线性时变系统的可观测性分析比较困难。文中采用一种依据系统矩阵的奇异值确定状态可观测度的方法对基于“速度＋姿态”快速传递对准的卡尔曼滤波模型进行可观测性分析,结果表明该方法可直接简单地实现系统状态的可观测度分析。

Analysis of Observability for Transfer Alignment Based on "Velocity+Attitude"

Kalman Filters are often used to estimate initial misalignment angles during initial alignment of inertial navigation system. It usually needs an analysis of observability to make sure the effect of Kalman Filter before designed. During a transfer alignment of strapdown inertial navigation system, Kalman filter models are linear time varying system whose analysis of observability is difficult. In this paper, a method which determined observability based on singular values was adopted to accomplish the analy...