Direct Recovery of Deflections of the Vertical Using an Inertial Navigator

Rose, Robert C.; Nash, Raymond A.

doi:10.1109/tge.1972.271273

Cited by 26 publications

(12 citation statements)

References 7 publications

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“…In the work of Grejner-Brzezinska [5,23,24], it was shown theoretically and experimentally that DOV can introduce a tilt error of vehicles, which should be compensated or modeled for a high accuracy attitude estimation. In fact, high-precision INS/GNSS integrated navigation systems have also served as vector gravimetry to measure the DOV [25,26,27,28]. In the studies of [27,28], the attitude reference decoupled from DOV was constructed with the raw gyros data of the INS for the INS/GNSS attitude error calculation.…”

Section: Introductionmentioning

confidence: 99%

An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

Xiong

Dai

Zhao

et al. 2019

Sensors

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This paper investigates the attitude estimation errors caused by the deflections of vertical (DOV) in the case of a rotational inertial navigation system (INS) integrated with a global satellite navigation system (GNSS). It has been proved theoretically and experimentally that the DOV can introduce a tilt error to the INS/GNSS integration, whereas less attention has been given to its effect to the heading estimation. In fact, due to the intercoupling characteristic of attitude errors, the heading estimation of an INS/GNSS integrated navigation system can also be affected. In this paper, first, the attitude estimation errors caused by DOV were deduced based on the INS’s error propagation functions. Then, the corresponding simulations were conducted and the results were well consistent with the theoretical analysis. Finally, a real shipborne marine test was organized with the aimed to verify the effect of DOV on attitude estimation in the rotational INS/GNSS integration, whereas the global gravity model was used for DOV compensation. The results with DOV compensation were compared with the corresponding results where the compensation was not used and showed that the heading estimation errors caused by DOV could exceed 20 arcsecs, which must be considered in high-precision application cases.

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Section: Introductionmentioning

confidence: 99%

An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

Xiong

Dai

Zhao

et al. 2019

Sensors

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“…In one of the methods, the gravity disturbances are treated as error sources of INS, and modeled as low-order Gauss-Markov processes. Then they are directly estimated by a Kalman filter/smoother with position and velocity observations (Rose and Nash, 1972). A series of studies on this method, which mainly emphasized gravity disturbance modeling (Jordan, 1972;Knickmeyer, 1990;Jekeli, 1994), were conducted in the past four decades.…”

Section: Introductionmentioning

confidence: 99%

Dynamic measurement of high-frequency deflections of the vertical based on the observation of INS/GNSS integration attitude error

Dai

Wang

Zhan

et al. 2015

Journal of Applied Geophysics

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“…The first method was developed by Rose and Nash [ 8 ]. In their research, the gravity disturbances were modeled as second-order Gauss–Markov processes [ 9 , 10 ] and directly estimated by a Kalman filter/smoother using an inertial navigation system with the aid of external position and velocity updates.…”

Section: Introductionmentioning

confidence: 99%

An Improved Method for Dynamic Measurement of Deflections of the Vertical Based on the Maintenance of Attitude Reference

Dai

Wang

Zhan

et al. 2014

Sensors

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A new method for dynamic measurement of deflections of the vertical (DOV) is proposed in this paper. The integration of an inertial navigation system (INS) and global navigation satellite system (GNSS) is constructed to measure the body's attitude with respect to the astronomical coordinates. Simultaneously, the attitude with respect to the geodetic coordinates is initially measured by a star sensor under quasi-static condition and then maintained by the laser gyroscope unit (LGU), which is composed of three gyroscopes in the INS, when the vehicle travels along survey lines. Deflections of the vertical are calculated by using the difference between the attitudes with respect to the geodetic coordinates and astronomical coordinates. Moreover, an algorithm for removing the trend error of the vertical deflections is developed with the aid of Earth Gravitational Model 2008 (EGM2008). In comparison with traditional methods, the new method required less accurate GNSS, because the dynamic acceleration calculation is avoided. The errors of inertial sensors are well resolved in the INS/GNSS integration, which is implemented by a Rauch–Tung–Striebel (RTS) smoother. In addition, a single-axis indexed INS is adopted to improve the observability of the system errors and to restrain the inertial sensor errors. The proposed method is validated by Monte Carlo simulations. The results show that deflections of the vertical can achieve a precision of better than 1″ for a single survey line. The proposed method can be applied to a gravimetry system based on a ground vehicle or ship with a speed lower than 25 m/s.

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Direct Recovery of Deflections of the Vertical Using an Inertial Navigator

Cited by 26 publications

References 7 publications

An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

Dynamic measurement of high-frequency deflections of the vertical based on the observation of INS/GNSS integration attitude error

An Improved Method for Dynamic Measurement of Deflections of the Vertical Based on the Maintenance of Attitude Reference

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