Observability of SINS/DR Integrated Navigation System

The error equations of strapdown inertial navigation system/dead reckoning(SINS/DR) integrated navigation system are introduced,and the 19-dimension integrated navigation model is established by adding gyroscope bias and accelerometer bias and odometer scale factor to the filter states.The observability matrix of integrated navigation system is analyzed by the piece-wise constant system(PWCS) observability analysis approach in different moving status,and the observabilities of integrated navigation system is analyzed according to the singular values of the observable matrices.The location error and attitude error and speed error of integrated navigation integrated navigation are predicted.The results of simulation indicate that the location error and attitude error and speed error could be converged effectively.