中文摘要：

惯性系卡尔曼滤波对准的状态量不完全可观测,针对这一问题,提出惯性系两位置对准。根据分段线性定常系统理论和奇异值分解法分析惯性系两位置对准算法的可观测性,分析结果表明横摇、纵摇和航向3个轴中绕航向轴旋转时系统的可观测度最高。然后,以航向误差作为参考指标进行仿真,确定了绕航向轴旋转180°的两位置对准为最优。

英文摘要：

The filter state components are not completely observable in a Kalman filter on an inertial frame. Aiming at this problem, we propose a method of two-position alignment. Based on the theory of piece-wise constant system （PWCS） and the method of singular value decomposition （SVD）, we can get the highest degree of observability as rotating the heading axis among the three axes. In addition, the simulation is carried out with the heading error specification, and the conclusion rotation with 180° along the heading axis is the optimal.