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A Theoretical Approach to Observability Analysis of the SDINS/GPS in Maneuvering with Horizontal Constant Velocity

Cited 9 time in Web of Science Cited 12 time in Scopus
Authors
Yoo, Young Min; Park, Joon Goo; Lee, Dal Ho; Park, Chan Gook
Issue Date
2012-04
Publisher
Springer
Citation
International Journal of Control , Automation , and Systems (2012) 10(2):298-307
Keywords
EstimabilityKalman filterobservabilitySDINSllnobservablε states
Abstract
A theoretical method for analyzing the observability of a strapdown inertial navigation system
(SDINS) integrated with the global positioning system (GPS) is proposed. The analysis is perfomled
based on two types of manellvers for a vehicle on a horizontal tr에 ectory: level flight with constant
north velocity and level flight 씨th constant east velocity. The observability also is analyzed lIsing
the convergence theorem, stationary state observability analysis reslllts, and Kalman filter measurement
infonnation to rearrange the SDINS error model eqllation. The state variables are divided into
observable and lInobservable parts, and detemline which state variables are observable and estimable
with some errors from the relationship of observable and lInobservable state variables. Ollr reslllts have
shown that the north and east axes accelerometer bias errors were unobservable, and that attitude errors,
and east and down axes gyro bias errors 、ν;ere estimable with some unkno'vvn bias errors. It has been
shøwn that horizontal manellvering improves the observability of do、vn axis gyro bias error compared
써th the stationary state, and the estimation errors of the heading error state and east axis gyro bias error
are dependent on the magnitude of north velocity. The results of the theoretical observability analysis
are confinned throllgh computer simulation.
ISSN
1598-6446
Language
English
URI
https://hdl.handle.net/10371/76730
DOI
https://doi.org/10.1007/s12555-012-0210-2
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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