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- W2393784139 abstract "The observable degrees of linear varying-time system states are the key indexes to check the convergence accuracy and velocity of designed Kalman filter.As there are a variety of shortcomings,however,the traditional methods of observable degree analysis are unable to meet the requirements of practical engineering application.Firstly,the observability analysis method of the linear varying-time system changed into piece-wise constant system (PWCS) were described in this paper.And then based on the singular value decomposition of PWCS observability matrix,the observable degrees of system states could be defined.Secondly,the integrated GPS/SINS navigation system was demonstrated in detail to satisfy the PWCS analysis law.Thus,the observable degrees of system states could be simply analyzed by using the striped observability matrix (SOM) instead of total observability matrix (TOM).In order to analyze the observable degrees of GPS/SINS system states along a whole trajectory,the modified analysis method was presented further.Finally,it can be clearly illustrated from the results of loosely coupled GPS/SINS system simulation that the observable degree indexes are able to better predict Kalman filtering errors of system states.The higher the observable degree,the smaller is the filtering error.And the lower the observable degree,the greater is the filtering error.Therefore,it can be shown preliminarily that the modified observable degree analysis method is rational and feasible." @default.
- W2393784139 created "2016-06-24" @default.
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- W2393784139 date "2004-01-01" @default.
- W2393784139 modified "2023-09-25" @default.
- W2393784139 title "Observable degree analysis method of integrated GPS/SINS navigation system" @default.
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