捷联惯导系统的可观测性和可观测度研究

Study on Observability and Its Degree of Strapdown Inertial Navigation System

可观测性和可观测度分析是确定动态系统卡尔曼滤波效果的重要环节．本文首次提出了一种时变动态系统可观测性矩阵的奇异值分解分析方法，应用于捷联惯导系统初始对准过程中系统状态的可观测度分析取得显著效果，该方法为初始对准中载体最佳机动方案选择提供了依据．计算机仿真结果表明了该方法的有效性．

Observability and degree of observability analysis of a dynamic system is an essential procedure to determine the efficiency of a Kalman filter designed to estimate the state of that system. A singular value decomposition method of observability matrix of a dynamic system is proposed.And the good effect is achieved for analyzing degree of observability of strapdown inertial navigation systems (SINS) in initial alignment stage. The choice of optimal maneuvers trajectory of the carrier can be determined in initial alignment stage for the best efficiency of Kalman filters by this method. The computer simulation results validate the efficiency of this analysis method.