Title :
Observability analysis of strapdown inertial navigation system using Lyapunov transformation
Author :
Chung, Dohyoung ; Park, Chan Gook ; Lee, Jang Gyu
Author_Institution :
Samsung Electron. Corp., Seoul, South Korea
Abstract :
In this paper, the observability and the degree of observability for stationary SDINS error are analyzed. The use of the Lyapunov transformation is proposed for transforming the conventional SDINS error model and the sufficient conditions for the observability of SDINS error model are analytically derived. A complete characterization for the degree of observability during two position alignments is presented which allows us to predict the performance of two position alignments in SDINS
Keywords :
Kalman filters; Lyapunov matrix equations; error analysis; inertial navigation; iterative methods; linear systems; observability; time-varying systems; Lyapunov transformation; degree of observability; error model; observability analysis; position alignment; stationary error; strapdown inertial navigation system; sufficient conditions; Computer errors; Error analysis; Error correction; Inertial navigation; Instruments; Observability; Observers; Power system modeling; State estimation; Sufficient conditions;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574240
