| 扰动重力补偿惯性导航系统误差分析 |
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| 引用本文： | 金际航,李胜全,李科,孙磊.扰动重力补偿惯性导航系统误差分析[J].海洋测绘,2010(Z1):30-33. |
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| 作者姓名： | 金际航 李胜全 李科 孙磊 |
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| 作者单位： | 海军海洋测绘研究所,天津 300061 |
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| 摘 要： | 重力扰动是高精度惯导系统的主要误差。 讨论了减小扰动重力场对惯性导航系统影响的方法,以分辨率为 1''×1''的某区域垂线偏差数据为背景场,对采用实时补偿扰动重力数据的情况进行仿真。 建立梯度仪补偿惯导系统的扰动重力模型,与无重力梯度仪辅助惯导的误差进行数值比较,讨论同一重力异常背景场扰动重力对惯导系统影响,最后建立基于重力梯度仪的 Kalman 滤波方程,结合惯导系统对引入梯度仪补偿扰动重力的情况进行估计,结果表明可以很好的抑制扰动重力引起的速度误差。
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| 关 键 词： | 重力扰动 惯性导航系统 重力梯度仪 卡尔曼滤波 误差 |
Analysis Positioning Error of Inertial Navigation System with Gravity Disturbance Compensation |
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| JIN Ji-hang,LI Sheng-quan,LI Ke,SUN Lei.Analysis Positioning Error of Inertial Navigation System with Gravity Disturbance Compensation[J].Hydrographic Surveying and Charting,2010(Z1):30-33. |
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| Authors: | JIN Ji-hang LI Sheng-quan LI Ke SUN Lei |
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| Institution: | Naval Institute of Hydrographic Surveying and Charting,Tianjin, 300061 |
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| Abstract: | The error of high-accuracy inertial navigation system(INS) due to the gravity disturbance can''t afford to be neglected. The technique of decreasing the error of INS due to gravity disturbance is discussed. Simulation of compensation gravity disturbance real time is done on deflection of vertical database. A model of compensation gravity disturbance by gravity gradiometer is established,and comparing of no gradiometer aided INS,the error due to gravity disturbance is analyzed in the same database. At last,an estimate of velocity in gravity disturbance compensation INS is discussed,the result we can see that the velocity is really constringency. |
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