Volume 39 Issue 9
Sep.  2013
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Zhou Weidong, Cai Jianan, Sun Long, et al. Observability analysis of GPS/SINS ultra-tightly coupled system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(9): 1157-1162. (in Chinese)
Citation: Zhou Weidong, Cai Jianan, Sun Long, et al. Observability analysis of GPS/SINS ultra-tightly coupled system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(9): 1157-1162. (in Chinese)

Observability analysis of GPS/SINS ultra-tightly coupled system

  • Received Date: 11 Oct 2012
  • Publish Date: 30 Sep 2013
  • The filter precision depends on the observability of system states. Various approaches were proposed to analyze the observability of the linear system states. Among those approaches, singular value decomposition (SVD) was commonly used to analyze the system beforehand owing to its computational simplicity. However, the measurement equation of global positioning system/strapdown inertial navigation systems (GPS/SINS) ultra-tightly coupled system based on the concentrated filter structure was nonlinear, which made it difficult to analysis the system observability. To solve this problem a linear measurement equation was derived. This GPS/SINS ultra-tightly coupled system model was proved to satisfy the piece-wise constant system (PWCS) theorem and the states' observability of the system were calculated based on the theory of SVD. The results show that the observability of states is affected by the maneuverability of carrier. The stronger maneuverability is, the more observable states are, the higher observability is.

     

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