Analytical Procedure for Observability Analysis of Strapdown Inertial Navigation System Coarse Alignment

In this program, I designed an analytical procedure for strapdown inertial navigation systems with primary focus on observability analysis. The core algorithm implements state-space modeling techniques using Lie derivative observability analysis methods to evaluate navigation system accuracy and stability indicators. Through matrix rank computation and singular value decomposition algorithms, the program quantitatively assesses observability degrees of different system states. The implementation includes error monitoring and correction mechanisms using statistical analysis methods like Kalman filter innovations to enhance system performance and reliability. Additionally, I integrated visualization tools employing MATLAB plotting functions to generate observability Gramian matrices and singular value distribution charts, enabling better data interpretation and analysis. Overall, this program utilizes numerical linear algebra computations and system identification techniques to help understand and optimize navigation system performance, making it more accurate and reliable through comprehensive observability metrics evaluation.