Analytical Observability Analysis of INS with Vehicle Constraints

Yaacov Rothman, Itzik Klein, Sagi Filin

Research output: Contribution to journalArticlepeer-review


Vehicle constraints have been gaining increased popularity as a means to mitigate drift of Inertial Navigation Systems in GNSS deprived settings. While useful, such constraints cannot compensate for the drift of all state variables in the navigation solution. To study which variables are affected, empirical analyses under typical scenarios are commonly performed, however, no insight is provided into the inner effects amongst error states. Here we propose an analytical observability analysis which evaluates the contribution of vehicle constraint measurements to the solution and determines which error states or linear combination thereof are unobservable. Observability analysis has been mostly directed thus far at GPS/INS aiding. Here we fill this gap by deriving analytical terms for the unobservable subspace of the body velocity constraint, which is already utilized in urban driving scenarios. The resulting terms are verified via numerical degree of observability analyses.

Original languageEnglish
Pages (from-to)227-236
Number of pages10
JournalNavigation, Journal of the Institute of Navigation
Issue number3
StatePublished - 1 Sep 2014
Externally publishedYes

Bibliographical note

Publisher Copyright:
Copyright © 2014 Institute of Navigation. Copyright © 2014 Institute of Navigation.

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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