Multiposition observability analysis of strapdown inertial navigation system

Jia Cheng Yu; Jia Bin Chen; Xue Qiang Xu; Jun Hai Han

Multiposition observability analysis of strapdown inertial navigation system

Jia Cheng Yu^*, Jia Bin Chen, Xue Qiang Xu, Jun Hai Han

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

To investigate the observability of a strapdown inertial navigation system (SINS), on the basis of piecewise constant system observability and singular value decomposition, the variation of singular value in the observability matrix with time is discussed. Simulation results reveal that the system observability is determined mainly by the orientation angle, the maximum of minimal singular value is attained when the direction reaches 180 degree, it changes the fastest in the range from 0 to 90 degrees and changes less with the pitch and roll angles. The degree of observability is determined by the pitch angle and ranges from 10 to 20 degrees, The article provides a theoretical foundation for the study of the fast and accurate alignment of SINS.

Original language	English
Pages (from-to)	150-153+157
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	24
Issue number	2
Publication status	Published - Feb 2004

Keywords

Multiposition alignment
Observability
Singular value
Strapdown inertial navigation system (SINS)

Cite this

Yu, J. C., Chen, J. B., Xu, X. Q., & Han, J. H. (2004). Multiposition observability analysis of strapdown inertial navigation system. Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 24(2), 150-153+157.

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N2 - To investigate the observability of a strapdown inertial navigation system (SINS), on the basis of piecewise constant system observability and singular value decomposition, the variation of singular value in the observability matrix with time is discussed. Simulation results reveal that the system observability is determined mainly by the orientation angle, the maximum of minimal singular value is attained when the direction reaches 180 degree, it changes the fastest in the range from 0 to 90 degrees and changes less with the pitch and roll angles. The degree of observability is determined by the pitch angle and ranges from 10 to 20 degrees, The article provides a theoretical foundation for the study of the fast and accurate alignment of SINS.

AB - To investigate the observability of a strapdown inertial navigation system (SINS), on the basis of piecewise constant system observability and singular value decomposition, the variation of singular value in the observability matrix with time is discussed. Simulation results reveal that the system observability is determined mainly by the orientation angle, the maximum of minimal singular value is attained when the direction reaches 180 degree, it changes the fastest in the range from 0 to 90 degrees and changes less with the pitch and roll angles. The degree of observability is determined by the pitch angle and ranges from 10 to 20 degrees, The article provides a theoretical foundation for the study of the fast and accurate alignment of SINS.

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Multiposition observability analysis of strapdown inertial navigation system

Abstract

Keywords

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