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Study on a ThreeDimensional Gravity Model Applied in UnderwaterNavigation
____________________________________________________________________________
Study on a Three-Dimensional Gravity Model Applied in Underwater
Navigation
1 1, 2 2 1, 2
YAN Lei FENG Hao DENG Zhongliang GAO Zhengbing
1 Beijing Key Lab of Spatial Information Integration and Its Applications,
Institute of RS GIS, Peking University, Beijing 100871, China
2 Beijing University of Posts and Telecommunications, Beijing 100876, China
Abstract: At present, a new integrated navigation, which is used in the location function of reference gravity anomaly
map to control the errors of Inertial Navig ation System (INS), is developed in marine navigation. It is named Gravity
Aided INS. Both INS and gravity anomaly computed in real-time need a three-dimensional marine normal gravity
model. Conventionally, a reduction method applied in geophysical survey is directly introduced to process observed
value. This reduction doesn’t separate anomaly and normal gravity in observed value, so errors are occurred. The three
dimensional marine normal gravity model is derived from J2 gravity model, and suitable for the region depth less than
1000m. Also some experiments and calculations are finished.
Key words: marine, gravity, navigation
1 Introduction
The characters of inertial navigation system (INS) such as passive and weather- proof meet the requirements of
underwater navigation. It becomes the main navigate mode in underwater vehicle (UV). However, for long-term
navigation only with INS is not enough due to its position errors increasing with time. There are many ways to correct
the errors, including GPS/INS integrated navigation. For
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