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Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems.

Ruonan Wu1, Qiuping Wu2, Fengtian Han3

  • 1Department of Precision Instrument, Tsinghua University, Beijing 100084, China. wrn13@mails.tsinghua.edu.cn.

Sensors (Basel, Switzerland)
|December 22, 2016
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Summary

Gravity disturbance vectors significantly impact high-precision inertial navigation systems (INSs). This study introduces gravity compensation using the Earth Gravitational Model 2008 (EGM2008), reducing position errors and Schuler oscillation in INS applications.

Keywords:
EGM2008deflections of the vertical (DOV)gravity disturbance vector compensationhigh-precision INSupdate interval

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Area of Science:

  • Geophysics
  • Navigation Systems Engineering

Background:

  • Gravity disturbance vectors are a primary error source in high-precision, long-term inertial navigation systems (INSs).
  • Gravity-induced errors predominantly affect horizontal channels, primarily due to deflections of the vertical (DOV).
  • Low-frequency DOV components directly correlate with latitude and longitude errors, while fluctuations induce Schuler oscillations.

Purpose of the Study:

  • To present and evaluate two gravity compensation methods utilizing the Earth Gravitational Model 2008 (EGM2008).
  • To analyze the impact of gravity update intervals and computation time delays on compensation accuracy.
  • To optimize EGM2008 computations for real-time application in marine navigation.

Main Methods:

  • Implementing gravity compensation via off-line database interpolation and direct spherical harmonic model computation using EGM2008.
  • Investigating the influence of gravity update frequency and processing latency.
  • Optimizing the EGM2008 calculation procedure to achieve computation times under 1 second.
  • Conducting shipborne INS experiments with recorded sea trial data.

Main Results:

  • EGM2008 effectively mitigated low-frequency position errors caused by gravity disturbances.
  • Schuler oscillation was significantly attenuated through the implemented gravity compensation.
  • Horizontal position errors in rugged terrain were reduced by up to 48.85% of their maximum.
  • Optimized EGM2008 computations met the stringent time requirements for marine navigation.

Conclusions:

  • The Earth Gravitational Model 2008 (EGM2008) is a viable tool for gravity compensation in high-precision, long-term INS.
  • Optimized gravity vector calculation and timely updates are crucial for effective error reduction.
  • The proposed methods demonstrate practical applicability for enhancing INS performance, particularly in marine environments.