Observability Analysis of Strapdown Inertial Navigation System on Moving Base
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摘要: 建立了SINS(捷联惯导系统)动基座对准的误差模型,首次应用PWCS(分段定常系统)可观测性分析理论对SINS动基座对准过程中的可观测性进行了全面研究.将载体的运动分解为平动和姿态变化两大类情形,深入研究和详细分析了载体的各种运动对系统可观测性的影响,指出在SINS动基座对准过程,无论载体的线运动还是角运动在一定条件下都能提高SINS的可观测性.定性地得出了不同运动对系统可观测性的影响结果,这为研究SINS的快速精确对准方法奠定了理论基础.Abstract: The SINS error model of alignment procedure on moving base is established. The observability of SINS in-flight alignment is deeply studied and thoroughly analyzed by means of the observability analysis theory and method of PWCS. In this paper, at first the movements of base are divided into two kinds of straight motion and rotation, then the influence of various maneuver of the base on the observability of SINS alignment procedure is first analyzed respectively in detail, and it is pointed out that, in alignment process of SINS an moving base, whether the straight motion of base or the rotation can all enhance the observability of SINS. At last some valuable results are obtained, it lays down a solid foundation for study of the fast and accuracy alignment method of SINS.
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Key words:
- strapdown inertial navigation system(SINS) /
- observability /
- error analysis /
- alignment
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