Abstract
The error of high-accuracy Inertial Navigation System (INS) due to the gravity disturbance can’t afford to be neglected. As gradiometer aided INS has been used as a resultful method for improving accuracy of underwater navigation, a novel method compensating the vertical deflections by gradiometer is introduced. In this paper, the architecture of compensation deflections of vertical by gradiometer is firstly analyzed. Then Taking pure INS as an example, an error dynamics equation of INS, including the influence of gravity disturbance, is given and the position error due to deflections of vertical and corresponding characteristics of error propagation are analyzed. Finally, simulation is done on deflections of vertical database, and form the simulation result we can see that the horizontal error of INS due to the gravity disturbance on the sailing course can reach as large as one kilometer.
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Jin, J., Li, S., Chang, G. (2013). Accuracy Improvement of Ship’s Inertial System by Deflections of the Vertical Based Gravity Gradiometer. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 255. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38460-8_42
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DOI: https://doi.org/10.1007/978-3-642-38460-8_42
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