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MINS/GPS紧组合导航系统设计最重要的是系统结构的设计,而系统结构与系统可观性有关,系统可观性越高,精度越高,则系统结构最优。因此实现紧组合导航系统的最优设计的关键是对系统的可观性进行分析。文中在比较了现有的可观性分析方法的基础之上,介绍了判断系统可观性的新方法,即可观性因子法,并利用可观性因子对系统结构进行分析,为系统简化提供理论依据。
MINS / GPS tight integrated navigation system design is the most important design of the system structure, and system structure and observability of the system, the higher the system observability, the higher the accuracy, the system structure is optimal. Therefore, the key to realize the optimal design of tight integrated navigation system is to analyze the observability of the system. Based on the comparison of the existing observability analysis methods, this paper introduces a new method to judge the observability of the system, namely, the observability factor method, and uses the observability factor to analyze the system structure to provide a theoretical basis for system simplification.