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为研究捷联惯导“速度+姿态”匹配快速传递对准中滤波模型的可观测性与载体机动的关系,提出一种分段线性定常系统(PWCS)可观测性逆向分析方法。该方法将原模型近似为PWCS。通过分析PWCS可观测性矩阵的秩的时变,推导出使PWCS完全可观测的各种状态段组合,包含其中任一种状态段组合的机动方案即满足滤波模型完全可观测的条件。摇翼机动传递对准仿真结果验证了PWCS可观测性逆向分析方法。由该方法的分析结果提出利用载体普通机动的快速传递对准机动方案。
In order to study the relationship between the observability of the filtering model and the carrier maneuver in the strap-down inertial navigation “speed + attitude” matching fast transfer alignment, a piecewise linear regressive system (PWCS) observability inverse analysis method is proposed. This method approximates the original model to PWCS. By analyzing the time-varying rank of the PWCS observability matrix, various combinations of state segments that make the PWCS completely observable are derived. The maneuver scheme including any combination of state segments satisfies the condition that the filter model is completely observable. The simulation results of the yaw maneuver transfer alignment verify the PWCS observability inverse analysis method. The results of the analysis of the method proposed a rapid transfer alignment maneuver scheme using a carrier common maneuver.