제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.54-54
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- 2000
Study on Observabi1ity Entrancement of SDINS in-flight using GPS Carrier Phase Measurements
GPS 반송파위상 정보를 이용한 SDINS의 운항중 정렬에 대한 가관측성 향상기법 연구
Abstract
For its synergistic relationship, an integrated SDINS/GPS system has been adopted in many navigation areas. As an application of SDINS/GPS integration, the in-flight alignment process of a SDINS utilizing GPS carrier phase measurements is introduced and analyzed via an observability analysis using nul1 space method. A measurement model of double-differenced GPS carrier phase measurements is newly derived in order to be used with a SDINS error model. Also, conditions for determining the complete observability of a SDINS/GPS system are suggested and proved. Consequently, it is shown that the system is not completely observable in case of one basel me. With one baseline aligned with y-axis of body frame, pitch error and x-axis accelerometer bias are unobservable states. Also shown is that al1 states are completely observable when sequential maneuver is performed. Above results are confirmed by a covariance analysis.