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Observable degree analysis method and its application in transfer alignment
Author(s): 
Pages: 467-471
Year: Issue:  4
Journal: Journal of Chinese Inertial Technology

Keyword:  Kalman filterobservable degreeSINStransfer alignment;
Abstract: Focusing on the problem of observable degree quantitative analysis for Kalman filter, a new method for observable degree analysis is presented. The system initial state estimation error transfer equation is derived for weighted least squares estimation of dynamic system with no system noise input. The diagonal element of estimation error transfer matrix is defined as the system state observable degree index. The observable degree is defined from the estimation error attenuation viewpoint. The attitude measurement equation is derived considering the slave inertial navigation system’s installation matrix. The transfer alignment of velocity plus attitude match model is built, taking the wing flexure as the measurement noise. The new observable degree analysis method is applied to this transfer alignment model. The simulation results show that level accelerometer bias observable degree is low and estimation error is large, while other states observable degree is high and estimation error is small.
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