Analysis on Observability and Performance of INS-Range Integrated Navigation System Under Urban Flight Environment

This paper investigates the observability and navigation performance analysis of the integrated navigation system for the onboard operation in urban building forests. INS mechanization with some rangefinders is employed to achieve navigation performance with an urban geographical map. First, presented is a model of the range-inertial sensor integrated navigation system for the purpose of performing the observability analysis in a complex urban environment. Next, it is derived from the analysis formula of the filter observability based on the proposed system and measurement model. In order to examine the validity of the model, we analyzed the relationship between observability and estimation performance through simulation and flight experiments. In addition, a comparative study using the ICP matching based integration is presented. The simulation study employs a simple map environment for an intuitive analysis, where error characteristics are related to the observability rank. Finally, a practical test result using the multi-copter system is presented to address the correlation between observability and navigation performance through a real flight adjacent to tall buildings.