摘要
可观测性分析方法在卡尔曼滤波效果估计中得到了广泛应用,本文对误差协方差矩阵和姿态精度因子(ADOP)两种可观测性分析方法进行了研究,并分析了两种方法之间的关系。针对旋转式惯导系统多位置初始对准的问题,以捷联式惯导初始对准33维状态误差方程为研究对象,分别采用上述两种方法分析了可观测性分析在旋转惯组初始对准的转动顺序、停留时间及模型降阶方面的应用。仿真结果表明,两种方法在初始对准方案选择中具有良好的一致性。
The observability analysis method is widely used in performance evaluation of the Kalman filter.Two observability analysis methods,error covariance matrix and Attitude Dilution of Precision（ ADOP）,are studied in this paper,and the relationship between the them is analyzed for calculating the degree of observability. To the observability of rotating-IMU＇s multi-position initial alignment,the 33-state error model of the SINS was taken as its study object. Both the two methods are used for research the best rotation sequence,best stated duration and model order reduction in multi-position initial alignment. The simulation of initial alignment observability is carried out,the result of theory research and simulation show the consistency of two methods.
出处
《电光与控制》
北大核心
2016年第4期75-80,共6页
Electronics Optics & Control
