TY - GEN
T1 - Multi-sensor performance evaluation and management in integrated navigation based on observability analysis
AU - Shen, Kai
AU - Wang, Meiling
AU - Yin, Zhang
AU - Neusypin, Konstantin A.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.
AB - This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.
KW - integrated navigation.
KW - multi-sensor management
KW - observability analysis
KW - performance evaluation
KW - the degree of observability
UR - https://www.scopus.com/pages/publications/85073101996
U2 - 10.1109/CCDC.2019.8833149
DO - 10.1109/CCDC.2019.8833149
M3 - Conference contribution
AN - SCOPUS:85073101996
T3 - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
SP - 275
EP - 280
BT - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 31st Chinese Control and Decision Conference, CCDC 2019
Y2 - 3 June 2019 through 5 June 2019
ER -