Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2007.13.12.1243

Simplified Observability Analysis of GPS/INS  

Hong, Sin-Pyo (㈜지엠비 기술연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.12, 2007 , pp. 1243-1251 More about this Journal
Abstract
In this paper a study on the simplified observability analysis of GPS/INS is introduced. Errors for the position, velocity, attitude, gyro and accelerometer biases, and lever arm between GPS antenna and inertial sensors are considered in the observablity analysis. From the error dynamics model in which relatively small terms are neglected, simple observability conditions are obtained such that the observability of GPS/INS is determined by the test on the attutude, gyro bias, and lever arm. Unobservable errors for the position, velocity, and accelerometer bias are determined by those for the attitude, gyro bias, and lever arm. The simplified observability conditions are applied to a constant speed horizontal motion. It is shown that there are seven unobservable modes for the motion including the vertical component of gyro bias. The analytic observability analysis results are confirmed with a covariance simulation.
Keywords
observability; the global positioning system (GPS); inertial navigation systems (INS);
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 J. A. Farrell, T. D. Givargis, and M. J. Barth, 'Real-time differential carrier phase GPS-Aided INS,' IEEE Transactions on Control Systems Technology, vol. 8, no. 4, pp. 709-721, 2000   DOI   ScienceOn
2 D. Goshen-Meskin and I. Y. Bar-Itzhack, 'Observability analysis of piece-wise constant systems-Part II: Application to inertial navigation In-flight alignment,' IEEE Transactions on Aerospace and Electronic Systems, vol. 28, no. 4, pp. 1068-1075, 1992   DOI   ScienceOn
3 박찬국, 조성윤, 진용, '칼만필터를 사용하는 INS/GPS 결합시스템에서 측정치 지연에 의한 오차 분석 및 보상,' 제어 . 자동화 . 시스템공학회 논문지, 제 6 권 제 11 호, pp. 1039-1044, 2000
4 오상헌, 이상정, 박찬식, 황동환, '무인비행체용 저가의 ADGPS/INS 통합 항법 시스템,' 제어 . 자동화 . 시스템공학회 논문지, 제 11 권 제 7 호, pp.633-643, 2005   과학기술학회마을   DOI
5 C. T. Chen, Linear System Theory and design. New York: Holt, Rine-hart and Winston, 1984
6 J. A. Farrell and M. Barth, The Global positioning system & inertial navigation, The McGraw-Hill Companies, Inc., New York, 1999
7 M. Shibata, 'Error analysis strapdown inertial navigation using quaternions,' Journal of Guidance, Control and Dynamics, vol. 9, no. 3, pp. 379-381, 1986   DOI   ScienceOn
8 K. R Britting, Inertial Navigation System Analysis, Wiley-Interscience, New York, 1971
9 L. M. Silverman and H. E. Meadows, 'Controllability and observability in time-variable linear systems,' Journal of SIAM Control, vol. 5, no. 1, pp. 64-73, 1967   DOI
10 S. Hong, M. H. Lee, H. H. Chun, S. H. Kwon, and J. L. Speyer, 'Observability of error states in GPS/INS integration,' IEEE Transactions on Vehicular Technology, vol. 54, no. 2, pp. 731-743, 2005   DOI   ScienceOn
11 Y. F. Jiang and Y. P. Lin, 'Error estimation of INS ground alignment through observability analysis,' IEEE Transactions on Aerospace and Electronic Systems, vol. 28, no. 1, pp. 92-97, 1992   DOI   ScienceOn
12 B. W. Parkins and J. J. Spilker Jr. (Eds), Global positioning system: Theory and applications, volume II, American Institute of Aeronautics and Astronautics, Inc., Washington DC, 1996
13 E. D. Kaplan (Ed.), Understanding GPS, principles and applications, Artech House, Boston, 1996
14 이태규, 김광진, 제창해, 'INS/GPS 결합 칼만필터의 측정치 스무딩 및 예측,' 제어 . 자동화 . 시스템공학회 논문지, 제 7 권 제 11 호, pp. 944-952, 2001
15 유명종, 'INS/GPS를 위한 적응필터 구성,' 제어 . 자동화 . 시스템공학회 논문지, 제 11 권 제 8 호, pp. 717-725, 2005   과학기술학회마을   DOI
16 S. Hong, M. H. Lee, J. A. Rios, and J. L. Speyer, 'Observability analysis of INS with a GPS multi-antenna system,' KSME International Journal, vol. 16, no. 11, pp. 1367-1378, 2002