Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation
Horizontal gravity disturbances are an important factor that affects the accuracy of inertial navigation systems in long-duration ship navigation. In this paper, from the perspective of the coordinate system and vector calculation, the effects of horizontal gravity disturbance on the initial alignme...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-03-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/3/906 |
| _version_ | 1811307722344235008 |
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| author | Junbo Tie Juliang Cao Meiping Wu Junxiang Lian Shaokun Cai Lin Wang |
| author_facet | Junbo Tie Juliang Cao Meiping Wu Junxiang Lian Shaokun Cai Lin Wang |
| author_sort | Junbo Tie |
| collection | DOAJ |
| description | Horizontal gravity disturbances are an important factor that affects the accuracy of inertial navigation systems in long-duration ship navigation. In this paper, from the perspective of the coordinate system and vector calculation, the effects of horizontal gravity disturbance on the initial alignment and navigation calculation are simultaneously analyzed. Horizontal gravity disturbances cause the navigation coordinate frame built in initial alignment to not be consistent with the navigation coordinate frame in which the navigation calculation is implemented. The mismatching of coordinate frame violates the vector calculation law, which will have an adverse effect on the precision of the inertial navigation system. To address this issue, two compensation methods suitable for two different navigation coordinate frames are proposed, one of the methods implements the compensation in velocity calculation, and the other does the compensation in attitude calculation. Finally, simulations and ship navigation experiments confirm the effectiveness of the proposed methods. |
| first_indexed | 2024-04-13T09:10:28Z |
| format | Article |
| id | doaj.art-de72ed90a5324e03b11c1984869d0366 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T09:10:28Z |
| publishDate | 2018-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-de72ed90a5324e03b11c1984869d03662022-12-22T02:52:54ZengMDPI AGSensors1424-82202018-03-0118390610.3390/s18030906s18030906Compensation of Horizontal Gravity Disturbances for High Precision Inertial NavigationJunbo Tie0Juliang Cao1Meiping Wu2Junxiang Lian3Shaokun Cai4Lin Wang5National University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, ChinaNational University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, ChinaNational University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, ChinaNational University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, ChinaNational University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, ChinaNational University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, ChinaHorizontal gravity disturbances are an important factor that affects the accuracy of inertial navigation systems in long-duration ship navigation. In this paper, from the perspective of the coordinate system and vector calculation, the effects of horizontal gravity disturbance on the initial alignment and navigation calculation are simultaneously analyzed. Horizontal gravity disturbances cause the navigation coordinate frame built in initial alignment to not be consistent with the navigation coordinate frame in which the navigation calculation is implemented. The mismatching of coordinate frame violates the vector calculation law, which will have an adverse effect on the precision of the inertial navigation system. To address this issue, two compensation methods suitable for two different navigation coordinate frames are proposed, one of the methods implements the compensation in velocity calculation, and the other does the compensation in attitude calculation. Finally, simulations and ship navigation experiments confirm the effectiveness of the proposed methods.http://www.mdpi.com/1424-8220/18/3/906inertial navigationinitial alignmenthorizontal gravity disturbancedeflection of vertical |
| spellingShingle | Junbo Tie Juliang Cao Meiping Wu Junxiang Lian Shaokun Cai Lin Wang Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation Sensors inertial navigation initial alignment horizontal gravity disturbance deflection of vertical |
| title | Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation |
| title_full | Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation |
| title_fullStr | Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation |
| title_full_unstemmed | Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation |
| title_short | Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation |
| title_sort | compensation of horizontal gravity disturbances for high precision inertial navigation |
| topic | inertial navigation initial alignment horizontal gravity disturbance deflection of vertical |
| url | http://www.mdpi.com/1424-8220/18/3/906 |
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