Observability Analysis and Simulation for RAPINS/Gravity Matching Integrated Navigation System

Abstract:

To lower the cost of passive gravity navigation, a simple and easy passive gravity navigation, which is composed of a rate azimuth inertial platform with a gravity sensor on it, and a digital gravity map, is proposed. Based on the local observability theory, the relationship between the observation of the integrated system and the gravity field’s roughness is deduced by the singular value of the observation matrix. The simulation of the integrated navigation system is carried out with Matlab/Simulink and gravity anomaly map whose resolution is five over one thousand. Simulation results show that, in the area with evident gravity anomaly, the positioning error of the RAPINS/Gravity integrated navigation system, combined of moderate precision accelerometers and gyroscopes, is small, which can meet up with the demand of underwater passive navigation.

• Periodical: Applied Mechanics and Materials (Volumes 143-144)
• Pages: 707-711
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.143-144.707
• Online since: December 2011
• Authors: Feng Lin Wang, Xiu Lan Wen, Dong Xia Wang
• Keywords: Gravity Navigation, Observability, Rate Azimuth Inertial Platform

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