Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation

Tie, Junbo; Cao, Juliang; Wu, Meiping; Lian, Junxiang; Cai, Shaokun; Wang, Lin

doi:10.3390/s18030906

Cited by 9 publications

(6 citation statements)

References 23 publications

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“…∆L denotes the difference between geographic latitude and geocentric latitude. The specific equations of g ′ E0,NR , g ′ N0,NR , g ′ U0,NR and ∆L are described in [23].…”

Section: Pm-nrmentioning

confidence: 99%

“…The effect of attenuation on gravity signals at highfrequency has a certain low-pass characteristic. The gravity signals in the middle and low frequencies have a more significant impact on inertial navigation [23]. Due to the nature of SINS/GNSS, the errors of SINS are suppressed through the invariant characteristics of GNSS.…”

Section: Static Experimentsmentioning

confidence: 99%

“…The smaller the errors of SINS, the better the effect of SINS/GNSS. Therefore, for SINS/GNSS, the gravity in the middle and low frequencies is also more suitable [23] pointed out that the relationship between frequency and order is incremental. Moreover, the occurrence of this difference does not preclude the introduction of randomness in the size of the error.…”

Section: Static Experimentsmentioning

confidence: 99%

See 2 more Smart Citations

The vertical accuracy improvement method considering gravitational anomaly for SINS/GNSS

Qin,

Qian,

et al. 2024

Meas. Sci. Technol.

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The vertical information (vertical velocity and altitude) is important in three-dimensional (3D) navigation. In order to improve the vertical accuracy of Strapdown Inertial Navigation System/Global Navigation Satellite System integrated navigation (SINS/GNSS) while reducing costs, firstly, the propagation laws of vertical error sources in two types of SINS/GNSS (vertical velocity set to 0 and not set to 0) are systematically analysed. Furthermore, the vertical accuracy improvement method considering gravitational anomaly is proposed. In the method, gravitational anomaly is considered as one of the vertical error sources. Then, the processing method of error sources in integrated navigation is referenced, and two processing modes of gravitational anomaly are designed. The first way is to represent gravitational anomaly as one of the system states of SINS/GNSS. The number of dimensions for the system is expanded from 15 to 16. The corresponding mathematical model is derived to "absorb" the vertical errors caused by gravitational anomaly. The second is to represent the gravitational anomaly as one of the vertical system noises. Thereby, Kalman filter is adjusted in real time by the above adaptive way to improve the accuracy of the estimated state. Then, the corresponding errors are suppressed. The field experiments show that the both modes of the proposed method can effectively improve the vertical accuracy.

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“…∆L denotes the difference between geographic latitude and geocentric latitude. The specific equations of g ′ E0,NR , g ′ N0,NR , g ′ U0,NR and ∆L are described in [23].…”

Section: Pm-nrmentioning

confidence: 99%

Section: Static Experimentsmentioning

confidence: 99%

Section: Static Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

The vertical accuracy improvement method considering gravitational anomaly for SINS/GNSS

Qin,

Qian,

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

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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“…However, some other applications have a higher real-time requirement, e.g. gravity aided inertial navigation [12], and underwater object detection. The design developed by the ZJUT is based on a nonlinear KF, and has slightly lower precision than offline processing, but satisfies the realtime requirement.…”

Section: Introductionmentioning

confidence: 99%

An atomic gravimeter dynamic measurement method based on Kalman filter

Huang¹,

Liu²,

Qin³

et al. 2022

Meas. Sci. Technol.

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Atomic gravimeter is an innovative quantum sensor featuring high precision, great sensitivity, and lasting stability. Presently, one research focus is on the combination of the atomic gravimeter with accelerometer to implement dynamic measurements and gather gravity information in a real-time and highly precise manner. The Kalman filter framework was utilized with gravity and accelerometer drift as its states to observe the outputs of the atomic gravimeter and accelerometer, and the data fusion of them is realized. It can restrain the influence of dynamic vibration noise and obtain high precision gravity information in real time. Moreover, the accelerometer drift was estimated and compensated, so as to enhance the lasting stability of the system. Laboratory static, swing platform and lake navigation tests were carried out to verify the effectiveness and feasibility of the proposed method. As revealed in the static test, the proposed method could effectively inhibit the effect of noise, and enhance the precision of gravity measurement. After making compensation for drift, the noise coefficients of the accelerometer, including the bias stability (B), acceleration random walk (K), and rate ramp (R) decreased noticeably. The swing platform test further verified the applicability of the proposed method in dynamic conditions. As proved in the lake test, better results were obtained at a maximum velocity of 8.5km/h. The gravity from the high-precision strap-down gravimeter on the same boat was taken as the reference, and processed to obtain the residual error of 2.03±7.12mGal, so that the proposed method was superior to the offline 300s smooth filter. The proposed method offers a new approach for the study of atomic gravimeter dynamic measurement.

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Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation

Cited by 9 publications

References 23 publications

The vertical accuracy improvement method considering gravitational anomaly for SINS/GNSS

The vertical accuracy improvement method considering gravitational anomaly for SINS/GNSS

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

An atomic gravimeter dynamic measurement method based on Kalman filter

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