Navigation Using Invariants of Gravity Vectors and Gravity Gradients
The paper develops and analyzes the application of invariants of gravity vectors and gravity gradients in gravity matching navigation. Compared with the traditional method based on gravity gradient tensors, there is no need for the attitude signal in the
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Navigation Using Invariants of Gravity Vectors and Gravity Gradients Xiaoyun Wan and Jinhai Yu
Abstract The paper develops and analyzes the application of invariants of gravity vectors and gravity gradients in gravity matching navigation. Compared with the traditional method based on gravity gradient tensors, there is no need for the attitude signal in the method of invariants. The invariants are introduced firstly and the formulas to calculate them are given; and then the thought of matching navigation is discussed and some algorithms are introduced. By using the accurate gravity field model which was well developed previously, some numerical simulations are conducted to test the feasibility of the algorithm. It indicates that the accuracy of the matching navigation based on invariants of gravity vectors and gravity gradients are same as that of the navigation based on components of gravity vectors and gravity gradients when there is no attitude observation error. However, if attitude errors exist, the matching navigation using the method of invariants has an obvious advantage with a much higher accuracy. Since in many cases, attitude observation with high accuracy is difficult, such as conditions under water, the method of navigation given in the paper can be used more conveniently. Similarly, the idea can also be used in matching navigation using information of geomagnetic field. Keywords Gravity vectors positioning
Gravity gradients
Invariants
Navigation and
X. Wan (&) Qian Xuesen Laboratory of Space Technology, Youyi Road 104, Beijing 100094, China e-mail: [email protected] X. Wan J. Yu College of Earth Science, University of Chinese Academy of Sciences, Yuquan Road 19, Beijing 100049, China e-mail: [email protected]
J. Sun et al. (eds.), China Satellite Navigation Conference (CSNC) 2014 Proceedings: Volume III, Lecture Notes in Electrical Engineering 305, DOI: 10.1007/978-3-642-54740-9_42, Springer-Verlag Berlin Heidelberg 2014
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X. Wan and J. Yu
42.1 Introduction Gravity matching navigation is passive, so it can meet the requirements of submarine for high accuracy navigation in long time. Many countries conducted many investigations on this kind of navigation. Metzger and Jircitanno [1] introduced the technology of navigation using gravity gradients to improve the accuracy of inertial navigation; Jekeli [2] discussed the effect of gravity field on inertial navigation; Behazd and Behrooz [3] introduced the principle of the Iterative Closest Contour Point (ICCP) algorithm. Wang and Bian [4] discussed ICCP algorithm for gravity aided inertial navigation and [5] investigated the Terrain Contour Matching (TERCOM) algorithm; [6] introduced the application of maximum correlation in gravity aided navigation; Liu [7] and [8] both systemically investigated the gravity aided inertial navigation and performed many simulation experiments; Tong et al. [9] proposed a new matching algorithm based on local gravity map using two-dimension Gaussian function. Most of the above mentioned investiga
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