Gravity data real-time correction with inertial navigation system in underwater vehicle

The authors think that data from gravity collection system need to be used to compensate or correct errors real-time from gravity aided inertial navigation system in underwater vehicles. Various noise sources are analyzed. Furthermore, without other high precision navigation methods like GPS, a method for correcting the affections from horizontal acceleration and Etvs etc. by directly using output data of the inertial navigation system, is studied and proposed.