Disturbance Correction of Gravity Sensor in GAINS

GAINS is a technique that makes use of geophysical information which is gravity to aid inertial navigation system of underwater vehicles.Output of gravity sensor should be corrected of disturbance to implement gravity matching to reduce inertial navigation errors cumulated with time.The paper analyzes factors,i.e.vertical disturbing acceleration,horizontal disturbing acceleration and Etvs effect,which cause disturbance to gravity sensor of underwater vehicles,studies the relationship between the disturbance error model and navigation accuracy of INS,and proposes methods that separate gravity from disturbance by direct INS output without other navigation information by computation.