Self-Contained Real Time Estimation and Compensation of Vertical Deflection in a Precise Marine Inertial Navigator

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Abstract
Gravitational vertical deflections have long been a major error source in a precise inertial navigation system (INS). By utilizing the vertical acceleration outputs of a precise INS as a gravimeter the medium and high frequency components of gravity deflections can be estimated as the vehicle maneuvers. By combining these estimates with stored undulation measurements obtained from satellite altimetery data low frequency gravity information can also be estimated. The major portion of position and velocity error in a precise marine INS caused by gravity deflection can thus be compensated for in a self-contained real time manner. This paper presents an algorithm for utilizing the real time spatial measurements of anomaly as obtained from using the vertical channel of a precise marine INS with the spatial undulation measurements that have been previously measured and recorded for estimating gravity deflection. This algorithm provides a marginally optimal method of handling a large array of measurements to utilize the most significant ones. Estimates of gravity deflection are applied in real time to improve navigation velocity and position.

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