On the observability of linear motion quantities in navigation systems

被引：42
作者：
Batista, Pedro [1 ]
Silvestre, Carlos [1 ]
Oliveira, Paulo [1 ]
机构：
[1] Inst Syst & Robot, Inst Super Tecn, P-1049001 Lisbon, Portugal
来源：
SYSTEMS & CONTROL LETTERS | 2011年 / 60卷 / 02期
关键词：
Linear time-varying systems; Observability; 3-D linear motion kinematics; Navigation systems; CONTROLLABILITY; FILTERS; POSITION; ATTITUDE; GPS/INS;
D O I：
10.1016/j.sysconle.2010.11.002
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Navigation systems are a key element in a large variety of mobile platforms, where the correct knowledge of their position and attitude is essential in most applications. This paper focuses on the observability of linear motion quantities (position, linear velocity, linear acceleration, and accelerometer bias). It presents necessary and sufficient conditions, with a clear physical insight, for the observability of these variables in 3-D. The analysis provided is based on kinematic models, which are exact and intrinsic to the motion of a rigid-body, and different cases are presented depending on the assumptions made on the sensor suite that is available on-board. (c) 2010 Elsevier B.V. All rights reserved.
引用
收藏
页码：101 / 110
页数：10
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