Controllability of "BD-1" / INS integrated navigation algorithm
北斗一号/惯导组合导航算法的可控性分析

To improve the position precision of the integrated navigation system,this paper investigates the major factors that affect the errors in the position prediction algorithm forBD-1 Twin-starand INS integrated navigation system.We demonstrate the significance of the controllability through an example,and derive the controllable conditions for Kalman filter based on the integrated navigation system model and the definition of controllability.Next,we introduce the concept of controllability degree for the state...