Observability analysis of strapdown inertial navigation system using Lyapunov transformation

Abstract

In this paper, the observability and the degree of observability for stationary SDINS error are analyzed. The use of the Lyapunov transformation is proposed for transforming the conventional SDINS error model and the sufficient conditions for the observability of SDINS error model are analytically derived. A complete characterization for the degree of observability during two position alignments is presented which allows us to predict the performance of two position alignments in SDINS.