The common methods to analyze the Degree of Observability(DOO) include the eigenvalues and eigenvectors analysis method of error covariance matrix and the Singular Value Decomposition(SVD) method of observability matrix.
常用的可观测度(DOO)分析方法有估计误差协方差矩阵的特征值和特征向量法和可观测性[矩]阵的奇异值分解(SVD)方法,前者需要在滤波结束之后进行,而后者不需要进行滤波运算就可直接用于分析整个系统的可观测度。
On the Observability of Target Maneuvers by Bearing-Only or Bearing-Rate-Only Measurments;
只测量视线角或视线角速度的目标机动的可观性研究
An accurate method in Gram matrix of the criteria of observability in linear system;
线性系统格拉姆矩阵可观性判别的精细化方法
On the observability of discrete-time fuzzy-state control systems;
离散时间模糊状态控制系统的可观性分析
Cost-efficient strapdown inertial navigation system(SINS) itself can not realize alignment to azimuth,and in stationary base,its degree of observability is low.
针对低成本捷联惯导系统难以完成航向自对准以及静基座对准可观性和可观度低的问题,提出了同时将速度误差、姿态误差和航向误差作为观测量的卡尔曼滤波对准方案;建立了姿态误差、航向误差与数学平台误差角之间的量测关系;推导了利用加速度计计算姿态的方法,并配置磁传感器作为外观测设备提供航向参考基准,从而获得滤波器观测量。
First,by use of singular values decomposition method,the observability and degree of observability of INS on stationary base is deeply analysed.
首先应用线性系统的奇异值分解理论对静基座初始对准的可观性及可观度进行了深入地分析。
A method of analyzing system states’ observable degree was introduced based on singular value decomposition.
在连续的分段式定常系统模型基础上,证明了通过简化分段式定常系统的可观测矩阵来分析其离散化模型可观测性能的可行性;介绍了一种基于奇异值分解的系统状态可观测度分析方法。
Utilizing the method of mathematic transformation and characteristic of linear matrix equation,the problem of unobservability of a bearings-only target tracking system in noise-free bearings measurements was discussed based on the target and observer traveling in 3-dimensional space with constant velocity or constant acceleration.
针对三维空间作匀速直线运动和匀加速直线运动的目标和观测器,利用适当的数学变换以及线性矩阵方程解的性质,对纯方位系统跟踪的不可观测性问题进行了讨论。
The analysis on the degree of observability to initial alignment of SINS/GPS integrated navigation system;
SINS/GPS组合导航系统初始对准的可观测度分析
Counterexamples for degree of observability analysis method based on SVD theory;
基于SVD理论的可观测度分析方法的几个反例
Observability and degree of observability analysis of a dynamic system is an essential procedure to determine the efficiency of a Kalman filter designed to estimate the state of that system.
可观测性和可观测度分析是确定动态系统卡尔曼滤波效果的重要环节。
Based on the error model of SINS and in view of the improving of the observability and the observability degree, an initial alignment method for SINS is put forward, which uses both the accelerometer output and the velocity error as the measuring value of Kalman filter and is applied in land vehicle under stationary state.
根据捷联惯导系统(SINS)的误差模型,从提高初始对准中卡尔曼滤波估计的可观测性和可观测度的角度出发,提出了同时利用加速度表的输出和速度误差量这两种信息作为卡尔曼滤波的测量量,对陆地车辆捷联惯导系统在静止条件下进行初始对准。