基于航迹无关模型的传感器系统误差可观测性分析

可观测性分析是建立系统误差估计模型的一个必要前提。针对系统误差航迹无关估计模型的可观测性问题，该文采用可观测矩阵研究系统误差的可观测性和可观测度。首先建立了基于航迹无关的系统误差量测与状态转换模型，在此基础上构建了系统误差的可观测矩阵，通过判定可观测矩阵的奇异性研究了系统误差的可观测性问题，并且给出了可观测度的表达式，最后建立了典型的仿真环境，分析了可观测度对系统误差估计精度的影响以及传感器的几何位置和目标的运动状态对系统可观测性及可观测度的影响。 

Observability Analysis of Sensor Bias Based on the Track-independent Model

In this paper, an observability analysis of sensor bias based on the track-independent estimation model is presented. Observability analysis is a prerequisite for developing a systematic error estimation model. Therefore, an observability matrix is adopted to study the observability and observability degree of sensor bias. Initially, based on the track-independent model, both state transformation and measurement models of sensor bias are built in two dimensions to construct the observability matrix. Then, the observability of the sensor bias is studied by judging the singularity of the observability matrix. Further, the mathematical expression for the degree of observability is presented. Finally, several typical simulations to demonstrate the effect of degree of observability on the estimation accuracy of sensor bias and the effects of sensor location and target motion on the observability and observability degree of sensor bias are provided.