GAINS中重力传感器信息的扰动改正

重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息──重力来完成水下运动载体的辅助惯性导航与定位。为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正。分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法。

Disturbance Correction of Gravity Sensor in GAINS

GAINS is a technique that makes use of geophysical information which is gravity to aid inertial navigation system of underwater vehicles.Output of gravity sensor should be corrected of disturbance to implement gravity matching to reduce inertial navigation errors cumulated with time.The paper analyzes factors,i.e.vertical disturbing acceleration,horizontal disturbing acceleration and Etvs effect,which cause disturbance to gravity sensor of underwater vehicles,studies the relationship between the disturbance error model and navigation accuracy of INS,and proposes methods that separate gravity from disturbance by direct INS output without other navigation information by computation.