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http://dx.doi.org/10.5573/ieek.2013.50.1.276

Observability Analysis of a Lever Arm Error for Velocity Matching in Transfer Alignment  

Yang, Cheol-Kwan (School of Electrical and Electronic Engineering, Chung-Ang University)
Shim, Duk-Sun (School of Electrical and Electronic Engineering, Chung-Ang University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.1, 2013 , pp. 276-284 More about this Journal
Abstract
This paper considers the transfer alignment in the inertial navigation system and the observability analysis is performed for velocity matching. The state variable of the Kalman filter is modeled including the lever arm error and the measurement equation is obtained. The SOM(Stripped Observability Matrix) method is used for the observability analysis for various maneuvering conditions of the vehicle, which gives the full state observability condition as a specific maneuver sequence of the vehicle. While the observability analysis of a lever arm effect in the existing papers is mainly performed by simulations, we performed it analytically by the observability analysis method. The analysis result is verified using the computer simulations.
Keywords
INS; Transfer Alignment; Velocity Matching; Observability; Lever Arm Error;
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