Observability analysis and simulation of integrated navigation system during maneuver

An observability analysis of SINS/GPS is presented based on perturbation model with respect to the local level frame. Linear acceleration and constant angular rate are chosen as maneuver mode during the observability analysis. Rank condition of Observability matrix and singular value decomposition were used as the analysis method. Under the same maneuver condition and simulation condition, the analysis results were compared, the recommendation was finally given to enhance the observability of integrated navigation system and convergence of data fusion system.