Singular Value Decomposition Approach to Observability Analysis of GPS/INS

• 발행기관: 한국항해항만학회
• 저자명: Sinpyo Hong Ho-Hwan Chun
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2006년도 International Symposium on GPS/GNSS Vol.1, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2006.10.24

영문 초록

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.

목차

1. Introduction

2. Observability Analysis with SVD

3. Application to GPS/INS

4. Conclusion

키워드

Observability Measure of observability Degree of observability Information matrix Singular value decomposition (SVD) The global positioning system (GPS) Inertial navigation system (INS)