基于卫星信息的惯导系统可观测性分析

Observability Analysis of INS Based on Satellite Data

可观测性分析是组合导航系统进行滤波器设计的重要内容,直接影响状态估计时的收敛速度和收敛精度,因而需要对状态变量的可观测程度进行定量分析。文章针对基于卫星的惯导系统在机动方式时的可观测性分析进行研究,改进了组合导航系统的可观测度,省略了外观测量的求取,有效减少了计算量,简化了分析步骤。仿真结果证明了该方法的有效性。

Observability analysis is important part of integrated navigation system which needs design filter, it di- rectly affects the convergent speed and precision of the states estimated, so the quantitative analysis of the states observability is actual needed. Observabihty analysis of INS based on satellite data when the body was moving was studied in this paper. The observable degree of integrated navigation system was ameliorated, and the outer measurement calculation was omitted, which made calculation capacity decrease effectively and made analysis steps predigest. The result of simulation proved the validity of this method.