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Sensors 2016, 16(6), 765; doi:10.3390/s16060765

Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers

1
College of Automation, Harbin Engineering University, Harbin 150001, China
2
Department of Gematics Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada
3
College of Science, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 26 March 2016 / Revised: 11 May 2016 / Accepted: 21 May 2016 / Published: 27 May 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
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Abstract

The 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
Keywords: SINS; GPS; instantaneous observability matrix (IOM); reconstructed psi-angle model; translational maneuver; angle maneuver; three-channel system; two-channel system SINS; GPS; instantaneous observability matrix (IOM); reconstructed psi-angle model; translational maneuver; angle maneuver; three-channel system; two-channel system
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Jiang, J.; Yu, F.; Lan, H.; Dong, Q. Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers. Sensors 2016, 16, 765.

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