@Article{SilvaHemeLeit:2017:ObAn,
author = "Silva, Felipe O. and Hemerly, Elder M. and Leite Filho, Waldemar
de Castro",
affiliation = "{Universidade Federal de Lavras (UFLA)} and {Instituto
Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and {Instituto
Nacional de Pesquisas Espaciais (INPE)}",
title = "On the error state selection for stationary SINS alignment and
calibration Kalman filters – part II: observability/estimability
analysis",
journal = "Sensors",
year = "2017",
volume = "17",
number = "3",
month = "Mar.",
keywords = "Alignment, Calibration, Error state selection, Estimability,
Observability, SINS.",
abstract = "This paper presents the second part of a study aiming at the error
state selection in Kalman filters applied to the stationary
self-alignment and calibration (SSAC) problem of strapdown
inertial navigation systems (SINS). The observability properties
of the system are systematically investigated, and the number of
unobservable modes is established. Through the analytical
manipulation of the full SINS error model, the unobservable modes
of the system are determined, and the SSAC error states (except
the velocity errors) are proven to be individually unobservable.
The estimability of the system is determined through the
examination of the major diagonal terms of the covariance matrix
and their eigenvalues/eigenvectors. Filter order reduction based
on observability analysis is shown to be inadequate, and several
misconceptions regarding SSAC observability and estimability
deficiencies are removed. As the main contributions of this paper,
we demonstrate that, except for the position errors, all error
states can be minimally estimated in the SSAC problem and, hence,
should not be removed from the filter. Corroborating the
conclusions of the first part of this study, a 12-state Kalman
filter is found to be the optimal error state selection for SSAC
purposes. Results from simulated and experimental tests support
the outlined conclusions.",
doi = "10.3390/s17030439",
url = "http://dx.doi.org/10.3390/s17030439",
issn = "1424-8220",
language = "en",
targetfile = "silva_ontheerror2.pdf",
urlaccessdate = "29 mar. 2024"
}