Transfer Alignment Using Velocity Matching/Parameter Tuning and Its Performance and Observability Analysis

속도정합 및 매개변수 조정을 사용한 전달정렬의 성능 및 가관측성 분석

  • Received : 2015.08.28
  • Accepted : 2015.10.12
  • Published : 2015.10.30


This paper considers the transfer alignment in the inertial navigation system which has lever-arm and the time delay in the velocity measurement. We suggest a method to improve the performance of the velocity matching. First, we analyze the estimation performance of the velocity matching through the tuning of the two covariance matrices of process noise and measurement noise. Next we provide some maneuvering conditions of the vehicles to improve the estimation performance using the observability analysis. The analysis results are verified using the computer simulations, which show that cruise movements do not provide the azimuth estimation of the vehicles, while east or north accelerating movement can provide.


Inertial navigation system;Transfer alignment;Velocity matching;Observability analysis;Lever arm error


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