Observability and Estimability Analysis of the GPS and INS in the Vehicle

概要

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In this paper a brief review on the observability and estimability analysis of GPS/INS is presented. There have been various analysis results on the observability of INS errors. However different INS error dynamics models and reference frames of INS mechanization have been used in the observability analysis. Moreover, the analysis framework was not unique. In this paper, known observability analysis results are summarized first. Then relatively general analysis tools to handle system model perturbation on the observability and estimability is given.