Alternative Method for Compensation of the Motion Induced Disturbances of the Vertical. Application to the Navigational Problems

Y. Binder, Y. Litmanovich, T Paderina

Peer Reviewed

Abstract: This paper develops the new approach for compensation of the motion induced disturbances in dead reckoning navigation that was recently suggested by one of the authors and then presented internationally. The approach is alternative to the conventional one when an INS-type AHRS is used and results in higher navigation accuracy and/or saving in the amount of gyros. This statement was proven for the cases when the heading is generated by the observation of the polar oriented vector of any nature – gyroscopic (free gyro) or magnetic. The goal of the paper is to apply the new approach to the case when the observed vector is pointed parallel to the Earth’s equator and thus is represented by a free gyro. It is shown that in this case, too, the one-channel inertial vertical can be constructed in the reference plane that contains two observed vectors (one is the gravity vector and another - is the equatorial gyro) and the motion induced disturbances in the tilt angles generated from the accelerometer outputs can be compensated in the position components using the log data the motion acceleration component generated in the inertial vertical channel. The peculiarity of the scheme with equatorial gyro which lies in the fact that the reference plane rotates relative to the Earth is analyzed. It is shown that a) the dead-reckoning errors can be autonomously observed and compensated with an accuracy specified by the gyro drift and b) the latter one can be evaluated and compensated from the position updates. By these means the efficient self-contained correction method of the heading error component caused by the gyro drift can be implemented. In the paper the simulation results of the scheme under consideration are presented which demonstrate its efficiency and the validity of conclusions made basing on the theoretical analysis.
Published in: Proceedings of the ION 2017 Pacific PNT Meeting
May 1 - 4, 2017
Marriott Waikiki Beach Resort & Spa
Honolulu, Hawaii
Pages: 745 - 756
Cite this article: Binder, Y., Litmanovich, Y., Paderina, T, "Alternative Method for Compensation of the Motion Induced Disturbances of the Vertical. Application to the Navigational Problems," Proceedings of the ION 2017 Pacific PNT Meeting, Honolulu, Hawaii, May 2017, pp. 745-756. https://doi.org/10.33012/2017.15078
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