Error Estimation of INS Ground Alignment Through Observability Analysis

A syslematk analysis of the observablllty of an Inertid ruwignttlon system (INS) in gorud allgmwnt with Bar-I(zhselr lod Bemaan's error del is presented. It is shown that the rmobecnsbk states are seperately contrrincd in two decoupled spbsp.et& The amdrsints on the sekction of Paobeervabk states are dktlssed An tsthtion algorithm which is derived fully from (br horizontal velocity outputs for colnputiqg the misalignment m@es Is provided It reveals thpt the azimuth error cm be entirely esthted from (br esthtes of IeveUng error and IeveUng error rdt, witbout us& gym output signals explicitly