Reconstructibilidad y Observabilidad por subespacios: Aplicación a la navegación

Abstract

Integrated navigation systems are viewed in the context of state observability and reconstructibility. Practical empirical measures of observability and reconstructibility are proposed based on orthogonal subspace decomposition of the state space. For a given instrumental configuration a deterministic observability measure allows to qualify the persistence of excitation (POE) implicit in the vehicle's motion. The combined effects of POE and the instrumental performance are evaluated with an instantaneous stochastic state reconstructibility measure. Both measures are illustrated using flight data of a sounding rocket.