Multi-sensor performance evaluation and management in integrated navigation based on observability analysis
Kai Shen, Meiling Wang, Zhang Yin, Konstantin A. Neusypin · 2019
This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.