Observability Analysis of SDINS/GPS In-Flight Alignment

Joon Goo Park, Jang Gyu Lee, Jinwon Kim and Chan Gook Park

Abstract:	For its synergistic relationship, an integrated SDINS/GPS system has been adopted in many navigation areas. As an application of SDINS/GPS integration, the in-flight alignment process of a SDINS utilizing GPS carrier phase measurements is introduced and analyzed via an observability analysis using null space method. A measurement model of double-differenced GPS carrier phase measurements is newly derived in order to be used with a SDINS error model. Also, conditions for determining the complete observability of a SDINS/GPS system are suggested and proved. Consequently, it is shown that the system is not completely observable in case of one baseline. With one baseline aligned with y- axis of body frame, pitch error and x-axis accelerometer bias are unobservable states. Also shown is that all states are completely observable when sequential maneuver is performed. Above results are confirmed by a covariance analysis result.
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	2609 - 2617
Cite this article:	Park, Joon Goo, Lee, Jang Gyu, Kim, Jinwon, Park, Chan Gook, "Observability Analysis of SDINS/GPS In-Flight Alignment," Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 2609-2617.
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