Observability degree-based inertia/satellite system adaptive hybrid correction method

The invention discloses an observability degree-based inertia/satellite system adaptive hybrid correction method, which comprises the following steps of: firstly, for an inertia/satellite integrated navigation system, defining an observability matrix of the improved integrated navigation system by using a weighted least square method, and further defining the state observability degree of the integrated navigation system; normalizing the observability according to the historical measurement data; and finally, taking the normalized observability as an adaptive factor to realize adaptive hybridcorrection of the state of the inertial/satellite integrated navigation system. According to the method, the precision of the inertia/satellite integrated navigation system can be improved, the influence of inaccurate state error estimated value on the output of the navigation system is reduced, and the adaptive capacity of the inertia/satellite integrated navigation system is improved. 本发明公开一种基于可观测度的惯性/卫星系统自适应混合校正方法，包括以下