Observability Analysis and Kalman Filter Applications for Error Estimation of SDINS Ground Alignment | ||||
| The International Conference on Electrical Engineering | ||||
| Article 11, Volume 7, 7th International Conference on Electrical Engineering ICEENG 2010, May 2010, Page 1-12 PDF (86.39 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/iceeng.2010.32847 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| I. I. Arfaa; Y. Z. Elhalwagy; R. A. Elbordany; M. Deab | ||||
| Egyptian Armed Forces. | ||||
| Abstract | ||||
| A systematic analysis of the observability of a strap down inertial navigation system (SDINS) in ground alignment with Bar-Itzhack and Berman’s error model is presented. It is shown that the unobservable states are separately contained in two de-coupled subspaces. The constraints on the selection of unobservable states are discussed. An estimation algorithm, which is derived fully from the horizontal velocity outputs for computing the misalignment angles, is provided. It reveals that the azimuth error can be entirely estimated from the estimates of leveling error and leveling error rate, without using gyro output signals explicitly. Moreover, estimate of the strap down inertial navigation systems errors are presented using appropriate Kalman filter design. | ||||
| Keywords | ||||
| Inertial Sensors Alignment; SDINS; KF; Observability Analysis | ||||
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