Observability Analysis of Strapdown Inertial Navigation Initial Alignment Based on DVL Information
LUO Yinbo
ZHANG Guangjun
HU Baiqing
CHANG Lubin
Abstract：When using DVL and SINS for initial alignment,the system error and related device error are generally estimated as state variables. The accuracy and speed of state estimation determine the speed and accuracy of the initial alignment of the system,and the accuracy and speed of state estimation. It is also related to the observability of the system. When the estimated state is unobservable or the observability is low,feeding back the state estimation value to the system will cause the accuracy of the system to drop or even diverge. Therefore,the system state variables need to be performed. Based on the analysis of observability and observability,this paper constructs a system model based on DVL information-assisted SINS initial alignment,which is beneficial to the system based on the singular value decomposition(SVD) method of the observable matrix. The observability analysis is carried out in the rotating state. The results show that the error parameters of the inertial device can be excited in the rotating state,so that the system model based on the initial alignment of the SINS assisted by the DVL information can be observed.
Keywords：initial alignmentstrapdown inertial navigationdoppler logKalman filterobservability analysis
Publication Date：2019-04-02
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 50-54 )