A Method for Analyzing Observability of Inertial Navigation System
A technology of inertial navigation system and observation equation, which is applied in the field of analyzing the observability of inertial navigation system, and can solve problems such as poor filtering results and divergence
Active Publication Date: 2017-11-24
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, Kalman filtering also has its limitations. It can only make a good estimate of the observable system state, and for the unobservable system state, the filtering results are generally poor or even divergent.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0045] The basic principle of the present invention is: on the basis of the error model and observation equation of the inertial navigation system, the observable matrix of the system is constructed by discretizing the system model, and the observable degree is solved by using the observable matrix to finally obtain the inertial Observability of each state in the navigation system.
[0046] Such as figure 1 As shown, the present invention is a method for analyzing the observability of an inertial navigation system, and the specific process is:
[0047] Step 1, establish the system model of inertial navigation system, described system model comprises error model and observation equation;
[0048] The process of establishing the error model is as follows:
[0049] Establish the error model of land inertial navigation system including velocit...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a method for analyzing observability of an inertial navigation system, and a specific process comprises the steps: step 1, establishing a system model of the inertial navigation system, wherein the system model comprises an error model and an observation equation; step 2, performing discretization processing on the system model and establishing an observable matrix by using the discretized system model; step 3, by transforming and solving the observable matrix, calculating the degree of observability of all states of the system; step 4, analyzing the observability of each state of the system according to the degree of observability, and further reflecting whether a Kalman filtering result of the state is correct or not. The method mainly considers the degree of observability of each state, the degree of observability of single states is more correct than that of the whole system so as to describe the observability of the system in more detail, and the problem that the conventional degree of observability analysis method cannot solve the degree of observability of the single states is solved.
Description
technical field [0001] The invention relates to a method for analyzing the observability of an inertial navigation system, which is suitable for solving the observability of various inertial navigation systems, and belongs to the technical field of observability analysis of inertial navigation systems. Background technique [0002] The inertial navigation system is a complex high-precision electromechanical integrated system, which is widely used in land, sea, air and space fields due to the advantages of complete autonomy. However, in the inertial navigation system, the existence of various error states (such as three-way error angle, gyroscope zero bias, accelerometer zero bias, etc.) will lead to a decrease in the navigation and positioning accuracy of the inertial navigation system. Therefore, in practical applications, it is necessary to estimate various error states in the inertial navigation system and perform feedback compensation on the inertial navigation system, w...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50G01C21/16
Inventor 肖烜梁源付梦印邓志红王博
Owner BEIJING INSTITUTE OF TECHNOLOGYGY