Observability Analysis of Rotational MEMS-INS Based Cooperative Navigation System

Inertial navigation system (INS) plays an important role in realizing autonomous navigation in complex environment. However, there are many kinds of inertial sensor errors, which may lead to the error divergence of the system. In order to improve INS accuracy, a rotational technique can serve as an effective way towards land, sea, air, space navigation and positioning. In this paper, a rotational MEMS-INS based cooperative navigation system is analyzed from the perspective of observability. For optimizing the information processing process of the system, the degree of observability (DoO) is calculated first, and on this basis, the observability is analyzed. Furthermore, a logarithm DoO criterion is formulated for the sake of simplicity of observability analysis. According to the results of simulation experiments, the rotational technique does improve the observability of error-states and increase the accuracy of the system.