| 捷联惯导系统多位置可观性分析 |
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| 引用本文： | 于家成,陈家斌,徐学强,韩军海. 捷联惯导系统多位置可观性分析[J]. 北京理工大学学报, 2004, 24(2): 150-153 |
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| 作者姓名： | 于家成 陈家斌 徐学强 韩军海 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 研究捷联惯性导航系统的可观性,寻找可观性最好时的载体姿态角.应用分段常值系统可观性理论和奇异值分解理论,讨论不同姿态捷联系统可观性矩阵奇异值的变化.仿真结果表明,系统可观性矩阵奇异值主要受载体航向角的影响,最小奇异值在180°时达到最大值,在0～90°变化最快,随俯仰角、横滚角变化较小.系统可观度取决于俯仰角,最佳范围为10～20°.从而为系统快速初始对准提供理论依据.
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| 关 键 词： | 捷联惯导系统 可观性 奇异值 多位置对准 |
| 文章编号： | 1001-0645(2004)02-0150-04 |
| 收稿时间： | 2003-01-07 |
Multiposition Observability Analysis of Strapdown Inertial Navigation System |
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| YU Jia-cheng,CHEN Jia-bin,XU Xue-qiang and HAN Jun-hai. Multiposition Observability Analysis of Strapdown Inertial Navigation System[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2004, 24(2): 150-153 |
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| Authors: | YU Jia-cheng CHEN Jia-bin XU Xue-qiang HAN Jun-hai |
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| Affiliation: | Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | To investigate the observability of a strapdown inertial navigation system, on the basis of piece-wise constant system's observability and singular value decomposition, the variation of singular value in the observability matrix with time is discussed. Simulation results reveal that the system observability is determined mainly by the orientation angle,the maximum of minimal singular value is attained when the direction reaches 180 degree, it changes fastest in the range from 0 to 90 degrees and changes less with the pitch and roll angles. The degree of observability is determined by the pitch angle and ranges from 10 to 20 degrees, The article provides a theoretical foundation for the study of the fast and accurate alignment of SINS. |
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| Keywords: | strapdown inertial navigation system(SINS) observability sigular value multiposition alignment |
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