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Sensors 2016, 16(10), 1541;

An Online Gravity Modeling Method Applied for High Precision Free-INS

1,2,* , 1,2
School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100083, China
Inertial Technology Key Laboratory of National Defense Science and Technology, Beihang University, Beijing 100083, China
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 14 May 2016 / Revised: 31 August 2016 / Accepted: 6 September 2016 / Published: 23 September 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
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For real-time solution of inertial navigation system (INS), the high-degree spherical harmonic gravity model (SHM) is not applicable because of its time and space complexity, in which traditional normal gravity model (NGM) has been the dominant technique for gravity compensation. In this paper, a two-dimensional second-order polynomial model is derived from SHM according to the approximate linear characteristic of regional disturbing potential. Firstly, deflections of vertical (DOVs) on dense grids are calculated with SHM in an external computer. And then, the polynomial coefficients are obtained using these DOVs. To achieve global navigation, the coefficients and applicable region of polynomial model are both updated synchronously in above computer. Compared with high-degree SHM, the polynomial model takes less storage and computational time at the expense of minor precision. Meanwhile, the model is more accurate than NGM. Finally, numerical test and INS experiment show that the proposed method outperforms traditional gravity models applied for high precision free-INS. View Full-Text
Keywords: polynomial model; high precision free-INS; online modeling; complexity analysis polynomial model; high precision free-INS; online modeling; complexity analysis

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Wang, J.; Yang, G.; Li, J.; Zhou, X. An Online Gravity Modeling Method Applied for High Precision Free-INS. Sensors 2016, 16, 1541.

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