Research on gravity compensation of inertial navigation system based on multispectral gravity disturbance

doi:10.11947/j.AGCS.2023.20220053

Abstract

Abstract: Gravity disturbance compensation technology is an important way to improve the positioning accuracy of high precision inertial navigation system. This paper analyzes the error characteristics and frequency characteristics of the influence of gravity disturbance on the inertial navigation system. The gravity compensation method of inertial navigation system using multispectral gravity disturbance is studied. The results show that the horizontal gravity disturbance can cause the navigation error in the form of Schuler oscillation, and the amplitude of the navigation error is directly proportional to the amplitude of the gravity disturbance. The north or east gravity disturbance component can not only cause the position and velocity error in its own direction, but also cause the position and velocity error in the east or north direction due to the coupling effect between horizontal channels. For the carrier running at low speed, the high frequency signal of horizontal gravity disturbance has a more and more significant impact on the position of inertial navigation. In order to compensate the navigation error caused by horizontal gravity disturbance, a gravity compensation method for determining multispectral gravity disturbance based on EIGEN-6C4 model and residual terrain model technology is proposed,which can effectively recover the high-frequency signal of gravity disturbance. The effectiveness of this gravity compensation method is verified by dynamic test, the compensation method can reduce the error oscillation trend of inertial navigation, and the position positioning accuracy of the vehicle and shipborne two-axis rotary modulation inertial navigation system after compensation is improved by 13.2% and 17.9%, respectively.

Key words: inertial navigation system, EIGEN-6C4, residual terrain model, multispectral gravity disturbance, gravity disturbance compensation

CLC Number:

P227.9

ZHANG Panpan, WU Lin, BAO Lifeng, LI Qianqian, LIU Hui, XI Menghan, WANG Yong. Research on gravity compensation of inertial navigation system based on multispectral gravity disturbance[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(8): 1255-1267.

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