The Design And Realization Of Gravity/Inertial Integrated Navigation Algorithm Research

The paper sets underwater vehicle navigation for the application background, studied passive navigation technology based on gravity field and topography field, on this basis a large number of simulation experiments have be proceed. The main contents and results of this paper are as follows:Established system equations and observation equations of Gravity/Log/SINS integrated navigation system and used extended Kalman filter to accomplish the integrated navigation computation, the results of computer simulation show that position error with gravity is smaller than the situation without gravity.Established system equations and observation equations of Terrain/Log/SINS integrated navigation system and use extended Kalman filter to accomplish the integrated navigation systems computation, the results of computer simulation show that with the introduction of the terrain, the speed in sky direction and height information of inertial navigation are well fixed.Established the system equations and observation equations of Gravity Gradient/Log/SINS integrated navigation system, used the downloaded actual measured gravity anomalies and topographic data of Australia to respectively bulid gravity gradient anomaly map by FFT method and prism method, used the extended Kalman filter to accomplish the integrated navigation system computation, the results of computer simulation show that the two methods to build the gravity gradient anomaly map are both feasible.The results of the paper have an important reference value for the theory research on passive navigation system based on gravitational field and topography.