{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:19:28Z","timestamp":1760242768519,"version":"build-2065373602"},"reference-count":19,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2016,5,27]],"date-time":"2016-05-27T00:00:00Z","timestamp":1464307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Science Foundation of China","doi-asserted-by":"publisher","award":["51379047"],"award-info":[{"award-number":["51379047"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The tightly coupled strapdown inertial navigation system (SINS)\/global position system (GPS) has been widely used. The system observability determines whether the system state can be estimated by a filter efficiently or not. In this paper, the observability analysis of a two-channel and a three-channel tightly coupled SINS\/GPS are performed, respectively, during arbitrary translational maneuvers and angle maneuvers, where the translational maneuver and angle maneuver are modeled. A novel instantaneous observability matrix (IOM) based on a reconstructed psi-angle model is proposed to make the theoretical analysis simpler, which starts from the observability definition directly. Based on the IOM, a series of theoretical analysis are performed. Analysis results show that almost all kinds of translational maneuver and angle maneuver can make a three-channel system instantaneously observable, but there is no one translational maneuver or angle maneuver can make a two-channel system instantaneously observable. The system\u2019s performance is investigated when the system is not instantaneously observable. A series of simulation studies based on EKF are performed to confirm the analytic conclusions.<\/jats:p>","DOI":"10.3390\/s16060765","type":"journal-article","created":{"date-parts":[[2016,5,27]],"date-time":"2016-05-27T10:25:03Z","timestamp":1464344703000},"page":"765","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Instantaneous Observability of Tightly Coupled SINS\/GPS during Maneuvers"],"prefix":"10.3390","volume":"16","author":[{"given":"Junxiang","family":"Jiang","sequence":"first","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiyu","family":"Lan","sequence":"additional","affiliation":[{"name":"Department of Gematics Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qianhui","family":"Dong","sequence":"additional","affiliation":[{"name":"College of Science, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,5,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1129","DOI":"10.1109\/TVT.2008.926213","article-title":"INS\/GPS integration: Global observability analysis","volume":"58","author":"Tang","year":"2009","journal-title":"IEEE Trans. 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Control Dyn."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/6\/765\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:24:35Z","timestamp":1760210675000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/6\/765"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5,27]]},"references-count":19,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2016,6]]}},"alternative-id":["s16060765"],"URL":"https:\/\/doi.org\/10.3390\/s16060765","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,5,27]]}}}