METHOD AND SYSTEM FOR IMPROVING ACCURACY OF INERTIAL NAVIGATION MEASUREMENTS USING MEASURED AND STORED GRAVITY GRADIENTS

摘要

Embodiments of the system provide for processing non-continuous atom interferometer inertial instrument measurements and continuous wide bandwidt h instrument measurements with a gravity database. An embodiment may have: a gravity disturbance vector database having gradients; a comparator that compares real-time gravity gradiometer gradient measurements with gradients from the database to provide an observation; and a Kalman filter that receiv es the observation on an input thereof, the Kalman filter outputting a modeled error state vector; wherein the gravity disturbance vector from the gravity database is used to remove a known portion of an actual gravity disturbance vector from specific force measurements of high bandwidth conventional inertial accelerometers to thereby form navigation data. An embodiment of th e method that may have the steps of: providing a gravity disturbance vector database having stored gradients; providing real-time measurements of gravit y gradients; and processing the stored gradients and the gravity gradients to form navigational data.