建立了捷联惯导系统初始对准误差模型,应用奇异值分解法对误差模型的可观测性进行了全面分析。提出了一种使用奇异值分解理论对系统可观测性进行定量分析的方法,证明了一个关于系统状态量可观测性判别的定理,应用这个定理分析系统的可观测性是可行的。它不仅分析系统每个状态量可观测性,而且比传统奇异值分析法更加直观和简洁。 The initial alignment error model of SINS was established. The singular value decomposition method was used to analyze the observability of the error model comprehensively. A method of using the singular value decomposition theory to quantitatively analyze the observability of the system is proposed. A theorem on the observability of the system state quantity is proved. It is feasible to apply this theorem to analyze the observability of the system. It not only analyzes the observability of every state quantity of the system, but also is more intuitive and concise than the traditional singular value analysis.