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本文从控制理论的观点分析惯性导航系统(INS)。提出并讨论线性误差模型,计算几种特殊情况下误差模型的特征值。证明由特征值导出的精确表达式与通常所用的表达式稍有不同。在初始对准和校准期间,分析INS静止时的可观测性。引入从物理观点观察的转换,使我们能比较顺利地通过观察新的动态矩阵来确定不可观测的子空间和状态。最后建立系统可观测性和估计质量之间的关系。
This paper analyzes the inertial navigation system (INS) from the perspective of control theory. The linear error model is proposed and discussed, and the eigenvalues of several error models are calculated. Prove that the exact expression derived from the eigenvalue is slightly different from the usual expression. During initial alignment and calibration, the INS was analyzed for observability at rest. The introduction of transitions from a physical point of view allows us to determine unobserved subspaces and states more smoothly by observing new dynamic matrices. Finally, establish the relationship between system observability and quality of estimation.