Error Analysis of Initial Fine Alignment for Non-leveling INS
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DOI: 10.5302/J.ICROS.2008.14.6.595
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摘要: In this paper, performance of the initial alignment for INS whose attitude is not leveled investigated. Observability filter analyzed and estimation errors estimated state variables are derived. First, observability using rank test matrix normalized error covariance Kalman based on 10-state model. result, it can be seen that accelerometer biases horizontal axes unobservable. Second, steady-state derived equation. It verified estimates have due to unobservable non-leveling tilt angles a vehicle containing INS. Especially, paper shows larger are, corresponding sensor are. Finally, shown 8-state model excepting better than in by simulation.
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