水下运载体基于INS的重力数据实时修正

Gravity data real-time correction with inertial navigation system in underwater vehicle

认为水下运动载体的重力辅助惯性导航系统中,其重力数据采集系统为满足导航的需要,必须对重力数据进行实时补偿修正.分析了水下重力测量系统的各种干扰源及其信号特征.在没有高精度导航定位手段(如GPS)的情况下,研究并提出直接利用惯性导航系统的输出数据对水平加速度和E tv s等外部干扰进行修正的方法.

The authors think that data from gravity collection system need to be used to compensate or correct errors real-time from gravity aided inertial navigation system in underwater vehicles. Various noise sources are analyzed. Furthermore, without other high precision navigation methods like GPS, a method for correcting the affections from horizontal acceleration and Etvs etc. by directly using output data of the inertial navigation system, is studied and proposed.