Abstract
The paper develops and analyzes the application of invariants of gravity vectors and gravity gradients in gravity matching navigation. Compared with the traditional method based on gravity gradient tensors, there is no need for the attitude signal in the method of invariants. The invariants are introduced firstly and the formulas to calculate them are given; and then the thought of matching navigation is discussed and some algorithms are introduced. By using the accurate gravity field model which was well developed previously, some numerical simulations are conducted to test the feasibility of the algorithm. It indicates that the accuracy of the matching navigation based on invariants of gravity vectors and gravity gradients are same as that of the navigation based on components of gravity vectors and gravity gradients when there is no attitude observation error. However, if attitude errors exist, the matching navigation using the method of invariants has an obvious advantage with a much higher accuracy. Since in many cases, attitude observation with high accuracy is difficult, such as conditions under water, the method of navigation given in the paper can be used more conveniently. Similarly, the idea can also be used in matching navigation using information of geomagnetic field.
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Acknowledgments
Thanks for the support from the National Natural Science Fund of China (Nos. 41074015, 41104047, 41104014, 41304022, 61203226).
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© 2014 Springer-Verlag Berlin Heidelberg
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Wan, X., Yu, J. (2014). Navigation Using Invariants of Gravity Vectors and Gravity Gradients. In: Sun, J., Jiao, W., Wu, H., Lu, M. (eds) China Satellite Navigation Conference (CSNC) 2014 Proceedings: Volume III. Lecture Notes in Electrical Engineering, vol 305. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54740-9_42
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DOI: https://doi.org/10.1007/978-3-642-54740-9_42
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