Analysis and on-line compensation of gravity disturbance in a high-precision inertial navigation system

Weng, Jun; Liu, Jianning; Jiao, Mingxing; Kou, Ke

doi:10.1007/s10291-020-00998-9

Cited by 8 publications

(8 citation statements)

References 4 publications

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“…EGM2008 released by the US National Geospatial-Intelligence Agency is a global gravity SHM, which is formed by merging terrestrial, altimetry-derived, and airborne gravity data. EGM2008 is truncated to degree 2190 and order 2159, and its spatial resolution is 5 ′ [12,27]. To validate the performance of proposed gravity disturbance compensation scheme, a simulation platform based on EGM2008 is built and its structure is shown in figure 6.…”

Section: Simulation Verificationmentioning

confidence: 99%

“…The existing methods of compensating gravity disturbance can be classified into four types: global gravity spherical harmonic model (SHM), regional gravity grid model, gravity gradient measurement and differential global navigation satellite system (GNSS). In the first method, the gravity disturbance at any position in the world can be calculated and compensated according to the global gravity SHM [11][12][13]. However, the global gravity SHM cannot accurately describe the gravity disturbance in some regions, so the compensation accuracy of this method is low in such areas with significant variation of gravity disturbance as mountainous ones [12,13].…”

Section: Introductionmentioning

confidence: 99%

“…In the first method, the gravity disturbance at any position in the world can be calculated and compensated according to the global gravity SHM [11][12][13]. However, the global gravity SHM cannot accurately describe the gravity disturbance in some regions, so the compensation accuracy of this method is low in such areas with significant variation of gravity disturbance as mountainous ones [12,13]. Since the regional gravity grid model can accurately describe the gravity disturbance in the local area, the compensation accuracy of the second method is high there [6,12,14].…”

Section: Introductionmentioning

confidence: 99%

“…However, the global gravity SHM cannot accurately describe the gravity disturbance in some regions, so the compensation accuracy of this method is low in such areas with significant variation of gravity disturbance as mountainous ones [12,13]. Since the regional gravity grid model can accurately describe the gravity disturbance in the local area, the compensation accuracy of the second method is high there [6,12,14]. However, this method cannot be used in the areas not covered by the regional gravity grid model, so it cannot meet the application requirements of long-endurance carriers.…”

Section: Introductionmentioning

confidence: 99%

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An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

Yang,

Wang,

Wang

et al. 2024

Meas. Sci. Technol.

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With the increasing demands for long-endurance and high-accuracy inertial navigation system (INS), gravity disturbance has been identified as one of the major error sources with decisive effects on the performance of INS. To address the problem, this paper proposes an autonomous and high-accuracy gravity disturbance compensation scheme for rotary INS (RINS). The high-accuracy velocity measured by the laser Doppler velocimeter is fused with the angular velocity measured by the gyroscope to obtain navigation parameters, such as velocity, position and attitude, that are not affected by gravity disturbance. The navigation parameters independent of gravity disturbance are matched with the gravity disturbance-related navigation parameters output by RINS, and a measurement model containing gravity disturbance information is obtained. Besides, the intrinsic coupling relationship between gravity disturbance, gravity disturbance rate and gravity disturbance gradient is revealed, and a state-space model is established to accurately reflect the time-varying characteristics of gravity disturbance. Furthermore, the gravity disturbance is estimated and compensated in real-time through the optimal estimation algorithm. The results of vehicle experiments indicate that the gravity disturbance estimation precision of the proposed scheme is better than 2.15 mGal (1σ), and its horizontal position accuracy is better than 50 m at a driving distance of 80 km.

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Section: Simulation Verificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

Yang,

Wang,

Wang

et al. 2024

Meas. Sci. Technol.

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show abstract

“…In fact, systematic errors caused by gravity disturbances have gradually become one of the main errors. Accurate gravity compensation for INS is an effective means of promoting the long-endurance positioning capability of underwater vehicles (Kwon and Jekeli, 2005;Jekeli et al, 2007;Zhou et al, 2016;Tie et al, 2018;Wen et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Gravity disturbance compensation for dual-axis rotary modulation inertial navigation system

et al. 2023

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Gravity disturbance compensation is an important technique for improving the positioning accuracy of high-precision inertial navigation systems (INS). Aiming at the current problems of the resolution of gravity compensation background field and the robustness of gravity compensation algorithm are insufficient for gravity compensation. In this study, the error and frequency characteristics of INS caused by gravity disturbances are investigated. The gravity disturbance with a spatial resolution of 1’ × 1’ from a high-precision satellite altimetry marine gravity field model is preliminarily introduced into the initial alignment and pure INS calculation to implement the gravity compensation of the dual-axis rotary modulation INS. Detailed calculation results show that the east gravity disturbance affects the north attitude, and the north gravity disturbance affects the east attitude in the initial alignment. In the pure INS calculation, the horizontal gravity disturbance causes a navigation error in the form of Schuler oscillation. The INS navigation error caused by horizontal gravity disturbance is mainly affected by its amplitude; however, the horizontal gravity disturbance accuracy from the satellite altimetry model for INS gravity compensation can be ignored in practice. In addition, for low-speed underwater vehicles, the influence of high-frequency gravity disturbance signals on the INS position shows an increasing trend. Finally, the effectiveness of the gravity compensation achieved by the horizontal gravity disturbance from the satellite altimeter model is confirmed by a dynamic shipborne test. The positioning accuracy of the rotary modulation INS is maximally improved by approximately 17.9% after the horizontal gravity disturbance is compensated simultaneously in the pure INS calculation and the initial alignment.

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Research on Torpedo SINS/Trajectory Integrated Navigation Method Considering Gravity Disturbance

Wang

Deng

2023

Lecture Notes in Electrical Engineering

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Analysis and on-line compensation of gravity disturbance in a high-precision inertial navigation system

Cited by 8 publications

References 4 publications

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

An autonomous and high-accuracy gravity disturbance compensation scheme for rotary inertial navigation system

Gravity disturbance compensation for dual-axis rotary modulation inertial navigation system

Research on Torpedo SINS/Trajectory Integrated Navigation Method Considering Gravity Disturbance

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