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多卜勒/惯性组合导航系统(DINS)是较复杂的卡尔曼滤波系统。提高DINS的导航性能的关键在于提高卡尔曼滤波器对误差状态的可观测性[1]、[2]。若用通常的可观测性分析法对DINS的可观测性进行研究,不但分析过程复杂,并且难以具体判定不同的飞行动作对于提高各个误差状态的可观测性的作用[3]。本文采取直接从误差状态与量测值的关系入手来分析系统可观测性的方法,详细研究了增强DINS误差状态可观测性的条件和如何利用飞机的机动飞行来实现这些条件;不仅分析了在不同的飞行动作时各个误差状态是否可观测,而且还比较出它们的可观测性程度以及相互之间的联系。最后,通过计算机仿真给出在飞机做弯道飞行时,误差状态可观测性提高的效果。
Doppler / inertial integrated navigation system (DINS) is a more complex Kalman filter system. The key to improve the navigation performance of DINS is to improve the observability of Kalman filter for error states [1], [2]. If the usual observability analysis is used to study the observability of DINS, not only the analysis process is complicated, but also it is difficult to determine the effect of different flight actions on improving the observability of each error state [3]. In this paper, the method to analyze the observability of the system directly from the relationship between the error state and the measured value is adopted. The conditions for enhancing the observability of the error state of the DINS and how to use the maneuvering flight of the aircraft to achieve these conditions are studied in detail. Whether different error states can be observed in different flight actions, but also compare their degree of observability and the relationship between them. Finally, computer simulations are given to show the effect of improving the observability of the error state when the aircraft makes a curve flight.