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重力仪通常是在一个2轴水平平台上放置一个重力敏感器构成。如果在速率方位平台上放置一个重力敏感器,那么就能构成一个集导航与重力测量功能为一体的导航重力测量系统。该系统再加上一个GPS接收机,就构成了具有精确的重力测量和定位功能的系统。为此本文对GPS/速率方位惯性平台组合导航系统进行了研究,给出了该组合系统的计算方程、误差方程和计算机仿真结果。仿真结果表明由中低等精度的加速度计、陀螺仪和GPS构成的组合导航系统能够满足重力测量和导航要求。
Gravimeter is usually composed of a gravity sensor placed on a 2-axis horizontal platform. If a gravity sensor is placed on the azimuth platform of velocity, then a navigation gravity measurement system integrating navigation and gravity measurement functions can be formed. The system, along with a GPS receiver, forms a system with accurate gravity measurement and positioning capabilities. In this paper, the integrated navigation system of GPS / velocity-azimuth inertial platform is studied, and the calculation equation, error equation and computer simulation results of the combined system are given. The simulation results show that the integrated navigation system composed of accelerometer, gyroscope and GPS with medium and low accuracy can meet the requirements of gravity measurement and navigation.