Stochastic and geometric observability of aided inertial navigators

Yunfeng Shao, Demoz Gebre Egziabher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

The observability and accuracy of aided-inertial navigation systems which use low quality (cost) inertial sensors is evaluated. It is shown that geometric observability as defined by checking the rank of the observability matrix is a necessary but insufficient condition for predicting whether INS/GPS integration filters will be stochastically observable (that is, provide an accurate state estimate) or assessing their propensity to diverge. This is because observability as defined by checking the rank of the observability matrix underplays or ignores the combined effects of process noise and non-linearities. This is shown by recasting the standard INS/GPS Extended Kalman Filter equations into a batch covariance estimator. The resulting batch estimator clearly shows that stochastic observability depends on the interaction between measurement noise, vehicle trajectory, process noise and initial state uncertainty. These observations are validated by a series of simulation studies.

Original languageEnglish (US)
Title of host publicationProceedings of the Institute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006
Pages2723-2732
Number of pages10
Volume5
StatePublished - Dec 1 2006
EventInstitute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006 - Fort Worth, TX, United States
Duration: Sep 26 2006Sep 29 2006

Other

OtherInstitute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006
Country/TerritoryUnited States
CityFort Worth, TX
Period9/26/069/29/06

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