Observability Measures and Their Application to GPS/INS

@article{Hong2008ObservabilityMA,
  title={Observability Measures and Their Application to GPS/INS},
  author={Sinpyo Hong and Ho Hwan Chun and Sun Hong Kwon and Man Hyung Lee},
  journal={IEEE Transactions on Vehicular Technology},
  year={2008},
  volume={57},
  pages={97-106}
}
In this paper, two observability measures are introduced for a discrete linear system. The degrees of observability of both the system and its subspaces can be examined with these measures. The measures are well conditioned to perturbation and applicable to multi-input/multi-output time-varying systems. The relations among observability, observability measures, error covariance, and the information matrix are presented. It is shown that the measures have direct connections with the singular… CONTINUE READING

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