TY - GEN
T1 - Observability Analysis of Rotational MEMS-INS Based Cooperative Navigation System
AU - Shen, Kai
AU - Zuo, Jianwen
AU - Li, Yuelun
AU - Zuo, Siqi
AU - Guo, Wenjun
AU - Wu, Xinqian
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Inertial navigation system (INS) plays an important role in realizing autonomous navigation in complex environment. However, there are many kinds of inertial sensor errors, which may lead to the error divergence of the system. In order to improve INS accuracy, a rotational technique can serve as an effective way towards land, sea, air, space navigation and positioning. In this paper, a rotational MEMS-INS based cooperative navigation system is analyzed from the perspective of observability. For optimizing the information processing process of the system, the degree of observability (DoO) is calculated first, and on this basis, the observability is analyzed. Furthermore, a logarithm DoO criterion is formulated for the sake of simplicity of observability analysis. According to the results of simulation experiments, the rotational technique does improve the observability of error-states and increase the accuracy of the system.
AB - Inertial navigation system (INS) plays an important role in realizing autonomous navigation in complex environment. However, there are many kinds of inertial sensor errors, which may lead to the error divergence of the system. In order to improve INS accuracy, a rotational technique can serve as an effective way towards land, sea, air, space navigation and positioning. In this paper, a rotational MEMS-INS based cooperative navigation system is analyzed from the perspective of observability. For optimizing the information processing process of the system, the degree of observability (DoO) is calculated first, and on this basis, the observability is analyzed. Furthermore, a logarithm DoO criterion is formulated for the sake of simplicity of observability analysis. According to the results of simulation experiments, the rotational technique does improve the observability of error-states and increase the accuracy of the system.
KW - inertial navigation system
KW - observability analysis
KW - rotational modulation
KW - the degree of observability
UR - http://www.scopus.com/inward/record.url?scp=85124157207&partnerID=8YFLogxK
U2 - 10.1109/ICUS52573.2021.9641459
DO - 10.1109/ICUS52573.2021.9641459
M3 - Conference contribution
AN - SCOPUS:85124157207
T3 - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
SP - 1025
EP - 1030
BT - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
Y2 - 15 October 2021 through 17 October 2021
ER -