Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers
AbstractThe tightly coupled strapdown inertial navigation system (SINS)/global position system (GPS) has been widely used. The system observability determines whether the system state can be estimated by a filter efficiently or not. In this paper, the observability analysis of a two-channel and a three-channel tightly coupled SINS/GPS are performed, respectively, during arbitrary translational maneuvers and angle maneuvers, where the translational maneuver and angle maneuver are modeled. A novel instantaneous observability matrix (IOM) based on a reconstructed psi-angle model is proposed to make the theoretical analysis simpler, which starts from the observability definition directly. Based on the IOM, a series of theoretical analysis are performed. Analysis results show that almost all kinds of translational maneuver and angle maneuver can make a three-channel system instantaneously observable, but there is no one translational maneuver or angle maneuver can make a two-channel system instantaneously observable. The system’s performance is investigated when the system is not instantaneously observable. A series of simulation studies based on EKF are performed to confirm the analytic conclusions. View Full-Text
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Jiang, J.; Yu, F.; Lan, H.; Dong, Q. Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers. Sensors 2016, 16, 765.
Jiang J, Yu F, Lan H, Dong Q. Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers. Sensors. 2016; 16(6):765.Chicago/Turabian Style
Jiang, Junxiang; Yu, Fei; Lan, Haiyu; Dong, Qianhui. 2016. "Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers." Sensors 16, no. 6: 765.
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