Novel gravity passive navigation system

摘要

According to the characteristics of gravity passive navigation, this paper presents a novel gravity passive navigation system (GPNS), which consists of the rate azimuth platform (RAP), gravity sensor, digitally stored gravity maps, depth sensor and relative log. The algorithm of rate azimuth platform inertial navigation system, error state-space equations, measurement equations and GPNS optimal filter are described. In view of the measurements made by an onboard gravity sensor the Eotvos effect is introduced in the gravity measurement equation of a GPNS optimal filter. A GPNS is studied with the Matlab/Simulink tools; simulation results demonstrate that a GPNS has small errors in platform attitude and position. Because the inertial navigation platform is the rate azimuth platform in the GPNS and gravity sensor is mounted on the rate azimuth platform, the cost of the GPNS is lower than existing GPNS's and according to the above results the GPNS meets the need to maintain accuracy navigation for underwater vehicles over long intervals.