Error estimation of INS ground alignment through observability analysis

Author

Jiang, Yeon Fuh ; Lin, Yu Ping

Author_Institution

Nat. Chiao Tung Univ., Hsinchu, Taiwan

Volume

28

Issue

1

fYear

1992

fDate

1/1/1992 12:00:00 AM

Firstpage

92

Lastpage

97

Abstract

A systematic analysis of the observability of an inertial navigation system (INS) in ground alignment with Bar-Itzhack and Berman´s error model is presented. It is shown that the unobservable states are separately contained in two decoupled subspaces. The constraints on the selection of unobservable states are discussed. An estimation algorithm which is derived fully from the horizontal velocity outputs for computing the misalignment angles is provided. It reveals that the azimuth error can be entirely estimated from the estimates of leveling error and leveling error rate, without using gyro output signals explicitly

Keywords

aerospace control; error analysis; error statistics; inertial navigation; observability; state estimation; Bar-Itzhack; Berman´s error model; INS ground alignment; azimuth error; decoupled subspaces; estimation algorithm; ground alignment; horizontal velocity; inertial navigation system; leveling error; misalignment angles; observability analysis; systematic analysis; unobservable states; Accelerometers; Azimuth; Control engineering; Control systems; Error analysis; Inertial navigation; Observability; Optical sensors; State estimation; System performance;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.135435

Filename

135435