Gravity gradiometer aiding of a strapdown inertial navigation system (INS) in the event of GNSS signal loss, or as a complement to an INS/GNSS system, is proposed. Gradiometry is ideal for covert military applications where a self contained, passive, spoof-free aid is desirable, and for space navigation near planetary bodies and moons where GNSS is unavailable. The paper provides a comprehensive discussion on gravity gradiometry fundamentals, map modeling, and regional and altitude effects on the gravitational gradient signal. A methodology to implement strapdown and stabilized gravity gradiometers into an extended Kalman filter is also presented. Lastly, a discussion on extraterrestrial navigation is given.
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