摘要
研究捷联惯性导航系统的可观性 .应用分段常系数线性离散系统的可观性理论 ,讨论参数摄动对系统特性的影响 ,并给出系统保持可观性的充分条件 .将这一结论应用于系统的三位置对准 .仿真结果表明 ,在重力加速度摄动的 0 .0 0 2 m· s- 2范围内 ,并不影响惯导系统的可观性 ,系统的最小特征值、条件数、迹的倒数与重力加速度成线性比例 ,系统摄动的最大特征值与重力加速度成二次函数关系 .说明系统的可观性对
Investigates the observability of SINS. On the basis of piece wise constant discrete system's observability, a further discussion of parameter perturbation is done to the system, and a sufficient condition is given. The conclusion is applied to the three position alignment of strapdown systems. Simulation results reveal that on the range of 0 002 m·s -2 variation of gravity acceleration, it has little effect on the observability of the system. The minimum eigenvalue, number of conditions, reciprocal of trace are linear to the gravitational acceleration. The maximum eigenvalue of the perturbation system is a quadratic function of the gravitational acceleration. This demonstrates that the SINS observability is robust to the parameter perturbation.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2002年第3期387-389,共3页
Transactions of Beijing Institute of Technology
基金
国防预研基金资助项目
关键词
捷联惯导系统
可观性
参数摄动
最小特征值
三位置对准
鲁棒分析
SINS
observability
parameter perturbation
minimum eigenvalue
three position alignment
robustness analysis
