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학술지 Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System
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조성윤, 이형근, 이흥규
Journal of Dynamic Systems, Measurement, and Control, v.135 no.2, pp.1-9
American Society of Mechanical Engineers(ASME)
In this paper, performance of the initial fine alignment for the stationary nonleveling strapdown inertial navigation system (SDINS) containing low-grade gyros is analyzed. First, the observability is analyzed by conducting a rank test of an observability matrix and by investigating the normalized error covariance of the extended Kalman filter based on the ten-state model. The results show that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and nonleveling attitude angles of a vehicle containing the SDINS. Especially, this paper shows that the larger the attitude angles of the vehicle are, the greater the estimation errors are. Finally, it is shown that the performance of the eight-state model excluding the two unobservable state variables is better than that of the ten-state model in the fine alignment by a Monte Carlo simulation. © VC 2012 by ASME.
KSP 제안 키워드
Attitude angles, Error analysis, Extended kalman fiLTEr, Low-grade, Monte-Carlo simulation(MCS), Rank test, State Model, State variables, Strapdown inertial navigation system(SINS), error covariance, estimation error