Abstract
The observability of the system states are the key indexes to check the convergence accuracy and convergence speed of designed Kalman filter. First of all, the error dynamic system equation and observation equation of strapdown inertial navigation system (SINS) online calibration are described in this paper, and then the system can be demonstrated to meet the law of piece-wise constant system (PWCS).Finally,the singular value of the system states based on the singlular value decomposition, which provides the necessary foundation of online calibration, are described.
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References
Shuai, P., Chen, D., Jiang, Y.: A Method of the Observable Degree Analysis of Integrated GPS/SINS Navigation System. Chinese Space Science and Technology (1) (February 2004)
Lu, Z.-D., Wang, L.: In-flight calibrabtion method for SINS. Journal of Chinse Inertial Technology 15(2) (April 2007)
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© 2011 Springer-Verlag Berlin Heidelberg
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Zhou, G., Wang, J., Li, K. (2011). Analysis of Singular Value under Kalman Filtering for Strapdown Inertial System Online Calibration. In: Tan, H. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 132. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25899-2_105
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DOI: https://doi.org/10.1007/978-3-642-25899-2_105
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