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

Volume

1

fYear

1996

fDate

11-13 Dec 1996

Firstpage

23

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.574240

Filename

574240