Using the error model,the observability of SINS error states was quantificationally analyzed,rotating azimuth axis, pitch and yaw axis under two position alignment respectively.

• 应用该模型，对SINS分别绕方位轴、俯仰轴和横滚轴两位置对准时系统的可观测性进行了定量分析，明确了SINS绕3个正交轴旋转系统的可观测性。