捷联惯导系统误差状态可观性分析

Observability analysis of SINS' error states

捷联惯导系统误差状态可观性分析是为了确定卡尔曼滤波器对系统误差状态的估值效果。本文根据分段常值理论分析了捷联惯导系统误差状态的可观性 ,得到相应的可观性结论 ,并且分析了水平通道的误差状态可观性。所得到的分析结论对设计滤波器时的运动路径设置提供了参考依据。

A reason of observability analysis of SINS' error states is the need to determine the efficiency of a Kalman filter designed to estimate the error states of the dynamic system.According to the theory of Piece Wise Constant System,this paper is about to observability analysis of SINS' error states,and analyse the observability of the level channel.The analysis conclusion obtained is reference to design running route for filter.