title: Instantaneous Observability of Tightly Coupled SINS/GPS during Maneuvers.
abstract: The tightly coupled strapdown inertial navigation system (SINS)/global position system (GPS) has been widely used. The system observability determines whether the system state can be estimated by a filter efficiently or not. In this paper, the observability analysis of a two-channel and a three-channel tightly coupled SINS/GPS are performed, respectively, during arbitrary translational maneuvers and angle maneuvers, where the translational maneuver and angle maneuver are modeled. A novel instantaneous observability matrix (IOM) based on a reconstructed psi-angle model is proposed to make the theoretical analysis simpler, which starts from the observability definition directly. Based on the IOM, a series of theoretical analysis are performed. Analysis results show that almost all kinds of translational maneuver and angle maneuver can make a three-channel system instantaneously observable, but there is no one translational maneuver or angle maneuver can make a two-channel system instantaneously observable. The system's performance is investigated when the system is not instantaneously observable. A series of simulation studies based on EKF are performed to confirm the analytic conclusions.
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. 15045652295@163.com.
authors.forename: Junxiang
authors.initials: J
authors.lastname: Jiang
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. yufei@hrbeu.edu.cn.
authors.forename: Fei
authors.initials: F
authors.lastname: Yu
authors.affiliation: Department of Gematics Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada. hlan@ucalgary.ca.
authors.forename: Haiyu
authors.initials: H
authors.lastname: Lan
authors.affiliation: College of Science, Harbin Engineering University, Harbin 150001, China. jzn@hrbeu.edu.cn.
authors.forename: Qianhui
authors.initials: Q
authors.lastname: Dong
keywords: GPS; SINS; angle maneuver; instantaneous observability matrix (IOM); reconstructed psi-angle model; three-channel system; translational maneuver; two-channel system