• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.133-138
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• 2006

Singular value decomposition (SDV) approach is applied to the observability analysis of GPS/INS in this paper. A measure of observability for a subspace is introduced. It indicates the minimum size of perturbation in the information matrix that makes the subspace unobservable. It is shown that the measure has direct connections with observability of systems, error covariance, and singular structure of the information matrix. The observability measure given in this paper is applicable to the multi-input/multi-output time-varying systems. An example on the observability analysis of GPS/INS is given. The measure of observability is confirmed to be less sensitive to system model perturbation. It is also shown that the estimation error for the vertical component of gyro bias can be considered unobservable for small initial error covariance for a constant velocity horizontal motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.45-49
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• 1989

The observability of an strapdown inertial navigation system(SDINS) is investigated. The piece-wise constant systems are defined and the stepped observability matrix scheme is applied to observability analysis of SDINS theoretically, the results are compared with that of covariance simulation. It is found that SDINS is more observable than gimballed inertial navigation system (GINS) in the case of the variation of vehicle attitude, and is found that the stepped observability matrix theory is simple and useful for the analysis of the system observability but the results are not completely same as that of covariance simulation.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권1호
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• pp.66-66
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• 2004

Observability of two spacecraft system is considered with relative line-of-sight vector measurements between two spacecraft system for autonomous navigation using the linear observability analysis. First, the dynamical equations and measurement models are introduced, and the basic assumption of attitude knowledge for one of two spacecrafts is explained. Then, we introduce a pair of nominal orbits of two spacecraft system, and the observability analysis for the nominal orbits is presented with the available measurements (for the numerical observability analysis). (omitted)

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1243-1251
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• 2007

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.

• 전자공학회논문지
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• 제50권1호
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• pp.276-284
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• 2013

본 논문에서는 관성항법시스템의 전달정렬시 속도정합 알고리듬에 대하여 지렛대 거리 오차의 가관측성 분석을 수행하였다. 이를 위해 지렛대 거리 오차를 포함한 칼만필터 상태 변수를 모델링하였고 측정 방정식을 구성하였다. 가관측성 분석 방법으로는 SOM을 이용하였고 다양한 항체의 운항 조건들에 대하여 가관측성 분석을 수행하였다. 기존의 지렛대 거리 오차를 포함한 가관측성 분석 기법들은 시뮬레이션을 통한 분석이 주를 이룬 반면에 본 논문에서는 상태 변수들이 완전 가관측하기 위한 항체의 운항 조건을 해석적으로 제시하였다. 그리고 시뮬레이션을 수행하여 분석 결과를 검증하였다.

• 한국항공우주학회지
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• 제38권7호
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• pp.664-672
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• 2010

본 논문은 표적의 방향 정보만을 측정할 경우 $t_{go}$-다항식 유도법칙의 표적 가관측성 분석을 다룬다. 본 연구에서는 직접적인 방법으로 표적의 가관측성을 분석한다. 등속도 표적에 대해 가관측성을 갖기 위한 조건들이 시선각의 함수로만 주어지기 때문에, $t_{go}$-다항식 유도법칙을 적용 했을 때 시선각의 닫힌 해를 도출하고, 이 닫힌 해를 가관측성 조건에 직접 대입하므로, $t_{go}$-다항식 유도법칙의 표적 가관측성 특성을 해석한다. 표적의 가관측성은 유도법칙의 유도이득, 초기 유도 조건과 유도명령의 형상에 따라 달라진다. 최종적으로 시뮬레이션을 통해 $t_{go}$-다항식 유도법칙의 표적 가관측성을 검증한다.

• 대한전기학회논문지
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• 제36권11호
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• pp.769-776
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• 1987

This paper deals with the topological observability analysis and the development of an observable island identification algorithm for state estimation in power systems, by using the incidence matrix and bus voltage grouping. An analogy of the DC power flow method to the DC circuit analysis is introduced, and all the relationships between power flows and phase angles are replaced by the corresponding current-voltage relation. As a result, a set of topological measurement equation expressed in the form of the incidince matrix is derived for the topological analysis, and the observability test is carried out by examining the rand of the measuremint matrix. The integer Gauss elimination method is introduced in the determination of matrix rand, so that the proposed observability test yields a precise observability criterion without any nearly-zero pivot problem encountered in the conventional algorithm. Also, an observable island identification algorithm reduced its computational time in comparision with the conventional algorithms. The proposed algorithms have been tested for sample systems, and their practicability has verified.

• 한국음향학회지
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• 제18권6호
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• pp.9-16
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• 1999

이 논문은 측정잡음이 큰 수동소나체계의 각도정보만을 이용한 표적기동분석(TMA ; Target Motion Analysis) 기법 연구의 일환으로서 표적의 상태변수를 추정하는 순차적 추정자로 수정이득확장칼만필터(MGEKF : Modified Gain Extended Kalman Filter)를 사용하며, 이 MGEKF의 초기화를 위해 비선형 batch estimation 알고리듬을 제안한다. 수동표적추적 시스템의 가관측성(observability) 해석을 바탕으로 시스템의 가관측성의 향상을 통해 TMA 성능을 개선시킬 수 있는 관측자의 기동을 결정하는 실용적이면서도 효과적인 방법을 제안한다. 또한 가관측성 확보가 어려운 초기단계의 TMA를 위해 관측자의 진행방향과 표적의 각도정보와 같은 기하학적 자료와 시스템의 가관측성과의 관계를 나타내는 engagement boundary를 산출하여 가관측성이 큰 기하학적 관계를 갖는 위치로 관측자를 선기동(pre-maneuver) 시키는 방법도 제시한다. 제시하는 TMA 기법의 성능을 시뮬레이션을 통해 입증한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1002-1004
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• 1996

In this paper, presented are the results of observability analysis for the vehicle maneuver during In-Flight Alignment of SDINS. The target system for observability analysis is 10th order one. Three trajectories for IFA are considered. To analyze the observability of the time varying system, correlation coefficient is used and to measure the degree of observability of the given system, simulation is carried out using covariance matrix. The results of simulation show that trajectories which are having continuous changes in attitude and acceleration of system is superior to straight trajectory in correcting navigation errors.

• Computers and Concrete
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• 제15권5호
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• pp.771-794
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• 2015

This paper proposes an innovative method for selection of measurement sets in static parameter identification of concrete or steel bridges. This method is proved as a systematic tool to address the first steps of Structural System Identification procedures by observability techniques: the selection of adequate measurement sets. The observability trees show graphically how the unknown estimates are successively calculated throughout the recursive process of the observability analysis. The observability trees can be proved as an intuitive and powerful tool for measurement selection in beam bridges that can also be applied in complex structures, such as cable-stayed bridges. Nevertheless, in these structures, the strong link among structural parameters advises to assume a set of simplifications to increase the tree intuitiveness. In addition, a set of guidelines are provided to facilitate the representation of the observability trees in this kind of structures. These guidelines are applied in bridges of growing complexity to explain how the characteristics of the geometry of the structure (e.g. deck inclination, type of pylon-deck connection, or the existence of stay cables) affect the observability trees. The importance of the observability trees is justified by a statistical analysis of measurement sets randomly selected. This study shows that, in the analyzed structure, the probability of selecting an adequate measurement set with a minimum number of measurements at random is practically negligible. Furthermore, even bigger measurement sets might not provide adequate SSI of the unknown parameters. Finally, to show the potential of the observability trees, a large-scale concrete cable-stayed bridge is also analyzed. The comparison with the number of measurements required in the literature shows again the advantages of using the proposed method.