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Robustness Analysis of SINS Observability
Author(s): 
Pages: 387-389
Year: Issue:  3
Journal: JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY

Keyword:  捷联惯导系统可观性参数摄动最小特征值三位置对准鲁棒分析;
Abstract: 研究捷联惯性导航系统的可观性.应用分段常系数线性离散系统的可观性理论,讨论参数摄动对系统特性的影响,并给出系统保持可观性的充分条件.将这一结论应用于系统的三位置对准.仿真结果表明,在重力加速度摄动的0.002 m*s-2范围内,并不影响惯导系统的可观性,系统的最小特征值、条件数、迹的倒数与重力加速度成线性比例,系统摄动的最大特征值与重力加速度成二次函数关系.说明系统的可观性对g的摄动具有鲁棒性.
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