In section 2 . 1 , we introduce some of the recent research results about the relationship between the internal stability and external stability . in section 2 . 2 , we state some necessary background , definitions and basic facts about infinite - dimensional linear systems . in section 2 . 3 , we are concerned with the admissibility of the control operator and the observation operator of system ( 1 . 1 ) - ( 1 . 4 ) 第一节我们介绍有关无穷维线性系统内部稳定性与外部稳定性关系的最新成果；第二节我们介绍无穷维线性系统的相关背景、概念，以及其他一些主要成果；在第三节，我们讨论系统( 1 . 1 ) - ( 1 . 4 )的控制算子与观测算子的相容性；在第四节和第五节我们分别讨论系统( 1 . 1 ) - ( 1 . 4 )的外部稳定性与内部稳定性；第六节我们将证明开环系统( 1 . 1 ) - ( 1 . 3 )的精确可观测性。
With widespread use of application inertial navigation , people pay more and more attention to high accuracy and fast initial alignment . the paper - ' study and simulate on moving base initial alignment of strapdown inertial navigation system ( sins ) " , study systematically and all - around the design and realization moving base initial alignment of sins , some further research is done for application of kalman filter in initial alignment , observability and its degree 本文《捷联惯导系统动基座初始对准研究与仿真》 ，较为系统和全面的研究了捷联式惯导系统动基座的初始对准，并对卡尔曼滤波在初始对准中的应用，系统可观测性和可观测度的分析方法和仿真进行了较深入的研究。
The kalman filter theory is introduced and the dynamic error vector equation of the initial alignment is derived at the first . using velocity error as exterior value of observation , maneuverable characteristic that is influenced with system ' s observability and its degree is studied at length by do amount of simulations and experiences . choosing output error of accelerometers and angle error of attitude as observation respectively and system observation model is derived , which is based on analyzing kalman filter theory 首先介绍了卡尔曼滤波理论及相关技术，建立了系统卡尔曼滤波的状态方程和观测方程；首先采用速度误差作为观测值，详尽的研究了系统机动特性对可观测性和可观测度的影响，并做了大量仿真实验：通过对滤波原理的分析研究了影响的原因；分别选用加速度计输出误差和转台输出姿态角误差作为外部观测值，推导建立它们的观测模型，并通过仿真证明了分析结论的正确性。
A piece - wise constant system ( pwcs ) method and singular value decomposition method of observability matrix of a dynamic system is proposed . and the good effect is achieved for analyzing observability and its degree of strapdown inertial navigation systems in initial alignment stage . through the computer simulation for different maneuver trajectories of the carrier in initkil alignment stage , obtain some important results 本文对捷联式惯导系统动基座初始对准这种时变系统，研究和分析了pwcs (分段线性定常系统)方法来判断系统的可观测性，奇异值分解的分析方法判断系统各状态的可观测度，并通过大量的仿真实验，验证了这两种方法，得出了一些重要信息。
Firstly , the observability of linear and nonlinear systems and the basis of parameter estimation are discussed . particularly , the observability of single station bearings - only passive locating systems was analyzed and the influence of the moving state parameters of observer and target on the system locating accuracy is also researched . based on that , the conclusion about the relationship between different moving state parameter and locating accuracy is made 主要工作如下: (一)讨论了线性和非线性系统的可观测性以及参数估计的基本方法,深入分析了单站只测角无源定位系统的可观测性,研究了系统和目标的运动状态参数对系统定位精度的影响,得出了不同状态参数与定位精度的定性或定量的对应关系。
In this thesis , a hardware / software coverification environment icos is proposed . by embedding virtual mornitor and control unit ( vmcu ) into the system prototype , rtos , ipc , and external tools and console implemented using java , icos provide good observability and control . and the application of rtos make icos highly portable Icos在保证验证准确性的同时，通过在系统原型中嵌入虚拟监视控制单元( vmcu ) ，同时结合实时操作系统、进程间通信和java实现的外部工具与数据库， icos提供了良好的可观测性和可控制性并且可以在icos中方便地进行系统地性能评估。
A kind of quick high precision sins combined alignment algorithm on fixed base was deduced in this paper , and the error model and measurement model were described . the observability of the system was analyzed with pwcs theory , and it is shown that the system is completely observable . the validity of the algorithm is proved by simulation 本文提出了一种快速、高精度的捷联式惯性导航系统静基座组合对准的方法，推导了捷联式惯性导航系统静基座组合对准的误差方程和量测方程，并采用pwcs理论对该系统进行了可观测性分析，证明该系统是完全可观测的。
Quite a few of new methods of soplat have been proposed in the last decade , most of these methods add new measurements values to the bearing - only method base on the particle kinematics . this paper studies the challenge technology of soplat method using frequency rate , including frequency and frequency rate estimation 近几年来,这一技术得到了新的发展,质点运动学原理和多年的研究证明,在传统的只测向方法的基础上增加多普勒频率变化率的算法可提高无源定位系统的可观测性,实现瞬时定位,但同时也对信号接收机提出了更高的要求。
Aiming at the nonlinearity of state and measure equation and measurement being only angle information , which results in poor observability and classical estimate methods such as extended kalman filter not converging , the boost phase states and covariance are estimated using unscented kalman filter ( ukf ) 针对状态方程和观测方程都是非线性方程,观测量只有角度信息,造成可观测性弱、经典的滤波算法如扩展卡尔曼滤波方法不易收敛的问题,利用unscented卡尔曼滤波ukf算法对主动段进行状态和协方差估计。
This method is more computationally efficient than prior efforts to assess observability and it could be integrated into compilers and simulators easily . a new simulation vector generation procedure involving the observability - enhanced statement coverage metric is developed . the method is simulation - based and driven by the distribution of unobserved statements 可观测性语句覆盖率并不像传统的语句覆盖率那样过于乐观，它不仅评估代码是否被执行，而且检验被激励激活的那些潜在错误的影响是否可以传播到观测点，该准则可以更确切地评估验证的力度。
