Abstract
In this work, the analysis of inertial navigation systems (INS) is approached from a control theory point of view. Linear error models are presented and discussed and their eigenvalues are computed in several special cases. It is shown that the exact expressions derived for the eigenvalues differ slightly from the commonly used expressions. The observability of INS during initial alignment and calibration at rest is analyzed. A transformation that is based on physical insight is introduced that enables us to determine the unobservable subspace and states rather easily by inspection of the new dynamics matrix. Finally, the relationship between system observability and quality of estimation is presented.
| Original language | English |
|---|---|
| Pages (from-to) | 237-245 |
| Number of pages | 9 |
| Journal | Journal of Guidance, Control, and Dynamics |
| Volume | 11 |
| Issue number | 3 |
| DOIs | |
| State | Published - 1 Jan 1988 |
| Externally published | Yes |
ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Space and Planetary Science
- Applied Mathematics
- Electrical and Electronic Engineering
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