海洋重力辅助导航是近几年舰船导航研究的热点和前沿问题,舰船重力测量数据的实时处理是重力辅助导航的关键技术之一;提高重力测量数据的精度,对于提高重力辅助惯性导航的精度具有重要的意义.介绍了水下重力辅助导航中重力观测数据实时处理的数学模型和处理方法,探讨了水下载体重力观测数据的厄特弗斯改正和水平扰动加速度改正的数学模型,并通过实例进行了验证.%Gravity aided navigation system is a hot topic in the ship navigation research area in recent years. Real-time processing of gravity observation data is one of the key techniques in gravity aided navigation system. Improving precision of gravity observation data has great significance for improving the precision of gravity aided INS navigation. Mathematical models and processing methods of gravity observation data for underwater gravity aided INS navigation were introduced. Eotvos correction model and horizontal acceleration correction model for gravity observation data were discussed in detail and the models were verified through an experiment. The experimental results show that when the velocity of vehicle is 8 n mile/h and heading east, the difference between gravity anomaly observations and actual values is great, and the maximum of difference is 45. 6672 mGal. After correction, the difference is small, and the maximum of difference is only 3.2 mGal.
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