Abstract
A widely used tool to combine data of different measurement devices in real time is the Kalman-Filter-Technique. To guarantee a uniformly asymptotically globally stable filter, the system model upon which the Kalman filter is based has to be both observable and controllable. Thus a first step to design a filter is to check the observability and controllability of the system model. In this paper we restrict ourselves to the observability problem, but because of the Kalman duality theorem the results can easily be extended to the controllability problem. The structure of the system model is not only important in real time filtering, but also for the post-mission adjustment, if, e.g., the state vector is introduced as an unknown quantity in the adjustment.
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© 1991 Springer-Verlag New York Inc.
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Bölcsvölgyi-Bán, M., Schröder, D. (1991). An Observability Analysis of a GPS-Aided Geodetic Inertial Strapdown Measurement Unit. In: Schwarz, KP., Lachapelle, G. (eds) Kinematic Systems in Geodesy, Surveying, and Remote Sensing. International Association of Geodesy Symposia, vol 107. Springer, New York, NY. https://doi.org/10.1007/978-1-4612-3102-8_4
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DOI: https://doi.org/10.1007/978-1-4612-3102-8_4
Publisher Name: Springer, New York, NY
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