Title :
INS/GPS Integration: Global Observability Analysis
Author :
Tang, Yonggang ; Wu, Yuanxin ; Wu, Meiping ; Wu, Wenqi ; Hu, Xiaoping ; Shen, Lincheng
Author_Institution :
Air Force Acad., Guilin
fDate :
3/1/2009 12:00:00 AM
Abstract :
Observability is an important aspect of the state-estimation problem in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS) as it determines the existence and nature of solutions. In most previous research, conservative observability concepts, e.g., local observability and linear observability, have extensively been used to locally characterize the estimability properties. In this paper, a novel approach that directly starts from the basic observability definition is used to investigate the global observability of the nonlinear INS/GPS system with consideration of the lever arm uncertainty. A sufficient condition for the global observability of the system is presented. Covariance simulations with an extended Kalman filter (EKF) and a field test are performed to confirm the theoretical results. The global observability analysis approach is not only straightforward and comprehensive but also provides us with new insights that were unreachable by conventional methods.
Keywords :
Global Positioning System; Kalman filters; covariance analysis; inertial navigation; observability; Global Positioning System; INS-GPS integration; covariance simulations; extended Kalman filter; global observability analysis; state estimation problem; the inertial navigation system; Global observability; INS/GPS; global observability; inertial navigation system/Global Positioning System (INS/GPS); land vehicle; lever arm; linear observability;
Journal_Title :
Vehicular Technology, IEEE Transactions on
DOI :
10.1109/TVT.2008.926213