Observability and alignment error analysis for rapid transfer alignment of inertial navigation system

According to the observability analysis approach of the control theory,the observability of the rapid transfer alignment algorithm of the inertial navigation system(INS) is analyzed,and the alignment error caused by the unobservable states is obtained.The maneuvering modes of the vehicle by the difference in observability are classified,and the observability of the level constant velocity motion,level turning maneuver,wing-roll maneuver and marine sway is studied,which provide the theoretic support for reasonably giving up the state variables in the rapid transfer alignment algorithm.