SCIENCE CHINA Information Sciences, Volume 64, Issue 1: 119201(2021) https://doi.org/10.1007/s11432-018-9725-1

## A local observability analysis method for a time-varying nonlinear system and its application in the continuous self-calibration system

• AcceptedDec 12, 2018
• PublishedMar 11, 2020
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### Acknowledgment

The work was supported by National Natural Science Foundation of China (Grant No. 61503392), Natural Science Foundation of Shaanxi Province (Grant No. 2015JQ6213), Aeronautical Science Foundation of China (Grant No. 201501U8001), and Aerospace Innovation Foundation of China (Grant No. 2015CASC187).

Appendix A.

### References

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• Table 1   Simulation results
 Error coefficients Relative observable degrees Convergence time (s) Relative error (%) Scheme 1 0.62 52 $-$0.0050 ${k_g}_{13y}$ Scheme 2 0.47 50 0.0042 Scheme 3 1.44 36 $-$0.0021 Scheme 1 0.0016 480 $-$8.88 ${\Delta~_{sx}}$ Scheme 2 0.51 320 $-$3.96 Scheme 3 0.31 280 $-$6.03 Scheme 1 $2.2~\times~{10^{~-~6}}$ 500 $-$11.21 ${k_a}_{0z}$ Scheme 2 0.00055 270 2.94 Scheme 3 0.0014 200 $-$1.58 ${k_g}_{11x}$ 89.61 96 0.0040 Scheme 2 ${k_g}_{11y}$ 71.73 120 0.0016 ${k_g}_{11z}$ 96.04 50 0.0009 ${\Delta~_{sx}}$ 0.31 270 $-$0.94 Scheme 3 ${\Delta~_{sy}}$ 0.58 180 0.11 ${\Delta~_{sz}}$ 0.42 280 0.16

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