A Novel Gravity Disturbance Compensation Inertial Navigation Method Based on Newtonian Mechanics

With the continuous improvement of the accuracy of inertial devices and systems, the effects of gravity disturbance on autonomous inertial navigation system (INS) calculations cannot be overlooked. The traditional gravity disturbance compensation method directly introduces it into the INS calculation link, but the errors of gravity disturbance will lead to irreversible INS calculation errors, ultimately rendering the traditional compensation method ineffective. In this article, a new gravity disturbance compensation method for INS is proposed based on Newtonian mechanics. The INS calculation errors caused by horizontal gravity disturbance are directly corrected in the navigation system in a direct manner, which avoids coupling attitude calculation errors. The physical quantity of direct compensation is derived, and the influences of different compensation periods on the algorithm are tested. The effectiveness of the proposed method is validated using various sources of gravity disturbance. Both simulation and experimental results demonstrate that our method can effectively mitigate the influence of gravity disturbances on high-precision INSs.