论文部分内容阅读
本文将控制理论的能观度概念运用到姿态估计的精度分析,建立了能观度和精度之间的解析关系,指出能观度可作为比较量测模型优劣的数字特征,解决了量测模型的选择问题。此外,本文将文献中有关冗余量测系统优点的结论,从姿态确定系统推广到一般量测系统,为实际设计中运用冗余量测信息,构造最好的量测模型提供了理论依据。
In this paper, the concept of observability of control theory is applied to the precision analysis of attitude estimation, and the analytic relationship between observability and accuracy is established. It is pointed out that observability can be used as a numerical feature to compare the advantages and disadvantages of measurement models, Model selection problem. In addition, this paper generalizes the conclusion about the advantages of redundant measurement system from the attitude determination system to the general measurement system, which provides the theoretical basis for the practical design using the redundant measurement information and constructing the best measurement model.