TY - GEN
T1 - The observation analysis of the initial alignment in the warship inertial navigation system
AU - Xu, Bo
AU - Sun, Feng
AU - Gao, Wei
AU - Yu, Fei
PY - 2008
Y1 - 2008
N2 - The initial alignment is one of the key technologies in the inertial navigation system. Nowadays Kalman filter (KF) is always used in the initial alignment to evaluate the angle error, the drift of the gyroscope and the bias of the accelerator. Before the design of the KF, we have to do the observation analysis of the KF to determine the effect of the filter. At first, this paper establishes the error model based on the moving base, then uses the singular and the Spectrum Condition Number to make the comprehensive observability\ analysis of the subsection continuous system both on the static base and the moving base. Then through the reduction of the error equations, we analyze the observability in the theory. We did the simulation and also make the comparison.
AB - The initial alignment is one of the key technologies in the inertial navigation system. Nowadays Kalman filter (KF) is always used in the initial alignment to evaluate the angle error, the drift of the gyroscope and the bias of the accelerator. Before the design of the KF, we have to do the observation analysis of the KF to determine the effect of the filter. At first, this paper establishes the error model based on the moving base, then uses the singular and the Spectrum Condition Number to make the comprehensive observability\ analysis of the subsection continuous system both on the static base and the moving base. Then through the reduction of the error equations, we analyze the observability in the theory. We did the simulation and also make the comparison.
UR - https://www.scopus.com/pages/publications/64949204381
U2 - 10.1109/ICMA.2008.4798836
DO - 10.1109/ICMA.2008.4798836
M3 - 会议稿件
AN - SCOPUS:64949204381
SN - 9781424426324
T3 - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
SP - 665
EP - 671
BT - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
T2 - 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Y2 - 5 August 2008 through 8 August 2008
ER -