Analysis of gravity vertical deflection-induced attitude error in single-axis rotation INS/GPS integrated navigation system

作者：Zhan De Jun^*; Dai Dong Kai; Zhang Zhong Hua; Wang Xing Shu; Huang Zong Sheng

来源：Journal of Chinese Inertial Technology, 2014, 22(3): 301-305.

DOI：10.13695/j.cnki.12-1222/o3.2014.03.005

• Attitude
• Attitude estimation
• GPS/INS navigations
• Inertial navigations
• INS/GPS integrated navigation system
• Integrated navigation
• Single-axis
• Theoretic analysis

Gravity deflection of the vertical(DOV) is one of the main error sources in high-precision inertial navigation. As the gravity-induced position error can be easily dumped in GPS/INS integrated navigation, the attitude estimation errors are more affected by DOV. In this paper, theoretical analysis of the gravity-induced GPS/INS navigation attitude errors is presented. The analytical results of attitude errors due to DOV are derived based on the inertial navigation error model, and the gyro bias estimation errors are analyzed accordingly. The numerical simulation results agree well with the theoretic analysis. The analysis results show that the east and north attitude errors are affected by north and east DOV respectively, while the yaw error is affected by east DOV and the first derivative of north DOV, meaning that the abrupt change of DOV may result in significant yaw error.

• 出版日期2014