一种改进的可观测度分析方法

摘要

根据线性系统理论系统状态可观测度只取决于系统结构的定理,在不使用外界量测信息的条件下,通过对可观测度物理意义的阐述,提出一种基于奇异值分解的可观测度分析的改进方法,并对由捷联惯导和里程仪构成的组合导航系统在不同机动条件下的可观测度进行了计算,仿真结果表明系统状态的收敛特性与计算得到的状态的可观测度具有一致性.%According to the theory of linear system, the degree of observability only depends on the system structure. Through the description of physical meaning of observable degree in the condition of not using the external measurement information, this paper proposes an improved method for observability based on singular value decomposition(SVD), and then calculates the observable degree of states in combined navigation system composed of the SINS and the odometer. The simulation results show that the convergence characteristics of the system states are consistent with observable degree.