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在惯导系统一般的误差动态方程和速度观测方程的基础上,建立了姿态传递对准所必需的弹、舰相对姿态误差方程和观测方程。介绍了基于动态系统可观测性矩阵奇异值分解的状态变量可观测度的分析方法。用奇异值分解的方法,对同时采用速度和姿态传递的INS对准模型,分析了系统变量的可观测性和可观测度,为对准方程的可观测性结构分解和误差估计性能的改善提供了必要的基础。
Based on the general error dynamic equation and velocity observation equation of inertial navigation system, the equations of attitude and attitude error of the projectile, the relative attitude of the ship and the observation equations are established. The analysis method of state variables observability based on singular value decomposition of observability matrix of dynamic system is introduced. By using the singular value decomposition method, the INS alignment model, which uses both velocity and attitude transfer, is analyzed. The observability and observability of the system variables are analyzed to provide the structural decomposition of observability and the improvement of error estimation performance The necessary foundation.