With the development of high-precision inertial navigation systems, the deflection of vertical (DOV), gravity disturbance, is still one of the main error sources that restrict navigation accuracy. For the DOV compensation of the Strapdown Inertial Navigation System (SINS) problem, the influences of the calculation degree of the spherical harmonic coefficient and the calculation error of the DOV on the compensation effect were studied. Based on the SINS error model, the error propagation characteristics of the DOV in SINS were analyzed. In addition, the high-precision global gravity field spherical harmonic model EIGEN-6C4 was established and the influence comparative analysis of the calculation degree of the spherical harmonic coefficient on the DOV compensation of SINS in different regions was carried out. Besides, the influence of the calculation error of the DOV on the compensation was emphatically analyzed. Finally, the vehicle experiment verified the feasibility of compensation in SINS based on the gravity field spherical harmonic model. The simulation and experiment results show that it is necessary to consider the influence of the calculation degree and the calculation error of the DOV on the compensation for long-time high-precision SINS with the position accuracy of 0.3 nm/h, while the SINS with general requirements for position accuracy can ignore the impact.
Analysis of Deflection of Vertical Compensation for Inertial Navigation System