This paper presents the second part of a study aiming at the error state selection in Kalman filters applied to the stationary self-alignment and calibration (SSAC) problem of strapdown inertial navigation systems (SINS). The observability properties of the system are systematically investigated, and the number of unobservable modes is established. Through the analytical manipulation of the full SINS error model, the unobservable modes of the system are determined, and the SSAC error states (except the velocity errors) are proven to be individually unobservable. The estimability of the system is determined through the examination of the major diagonal terms of the covariance matrix and their eigenvalues/eigenvectors. Filter order reduction based on observability analysis is shown to be inadequate, and several misconceptions regarding SSAC observability and estimability deficiencies are removed. As the main contributions of this paper, we demonstrate that, except for the position errors, all error states can be minimally estimated in the SSAC problem and, hence, should not be removed from the filter. Corroborating the conclusions of the first part of this study, a 12-state Kalman filter is found to be the optimal error state selection for SSAC purposes. Results from simulated and experimental tests support the outlined conclusions.

The aim of this paper was to present a calibration procedure applied to an inertial measurement unit into account a technique based on least-square methods and wavelet denoising to perform the best estimateKeywords:

Resumo-Neste trabalho são discutidos os principais conceitos e requisitos utilizados durante o projeto da malha de controle de atitude de um veículo lançador a partir da análise da dinâmica simplificada do veículo. A análiseé dividida em duas partes, primeiramente o veículoé tratado como um corpo rígido e um controlador PIDé apresentado. Em seguida o veículoé considerado um corpo flexível e dois métodos de estabilização dos modos flexão (ganho ou por fase) são apresentados. Além disso, um sistema de controle de atitudeé projetado considerando os conceitos discutidos.

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