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建立了ＳＩＮＳ（ 捷联惯导系统） 动基座对准的误差模型，首次应用ＰＷＣＳ（ 分段定常系统） 可观测性分析理论对ＳＩＮＳ动基座对准过程中的可观测性进行了全面研究．将载体的运动分解为平动和姿态变化两大类情形，深入研究和详细分析了载体的各种运动对系统可观测性的影响，指出在ＳＩＮＳ动基座对准过程，无论载体的线运动还是角运动在一定条件下都能提高ＳＩＮＳ的可观测性．定性地得出了不同运动对系统可观测性的影响结果，这为研究ＳＩＮＳ的快速精确对准方法奠定了理论基础．
The error model of SINS (Alignment SINS) moving base alignment was established. For the first time, the observability analysis theory of PWCS (Sectional Constant System) was used to comprehensively study the observability of SINS moving base alignment. . The motion of the carrier is decomposed into two kinds of situations: translation and attitude change. The influence of various motions of the carrier on the observability of the system is deeply studied and analyzed. The alignment process of the SINS moving base is pointed out. Regardless of the linear motion of the carrier Or angular movement under certain conditions can improve the observability of SINS. The results of qualitatively analyzing the influence of different motions on the observability of the system are obtained, which lays a theoretical foundation for the research on the SINS rapid and accurate alignment method.