In the first section a short derivation of the nonlinear inertial navigation differential equations for a strapdown inertial navigation system (SINS) represented in the geocentric, earthfixed, cartesian coordinate system (CS) is given. We restrict ourselves to 9 states for this presentation. In the second section we derive the linear inho-mogeneous inertial navigation differential equations by linearization and introduce the linearized system of algebraic observation equations. Since controllability and observability, as defined and discussed for the linearized navigation equations in the final two sections, are deterministic concepts we do not need to carry out thetransition to stochastic equations. From observability analysis several conclusions are drawn for different kinds of updates.
opus 3.1) | © Universität Stuttgart | Impressum