Abstract
Geophysical invariants and their application for error estimation of strapdown inertial navigation systems (SINS) are considered. During the initial alignment, such invariants are the parameters associated with the immobility of the SINS base, and in the navigation mode, with the projections of the angular velocity vector of the Earth's rotation on the axes of the inertial coordinate frame. When estimating errors using the extended Kalman filter, a priori known invariants are compared with their values computed in SINS. The dynamics of the change in the coefficients of estimability of the elements of the SINS error vector is studied when observing various invariants. To solve such a problem, the procedure of decomposition of the observability matrix by singular numbers is used. The results of experimental studies obtained from the recorded data of the SINS-500NS system are presented.
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