Impact of Gravitational Anomalies and Vertical Deviations on the Accuracy of Inertial Navigation Systems and Compensation Methods

The accuracy of Inertial Navigation Systems (INS) has significantly improved, making previously negligible sensor errors, such as gravitational disturbances, major sources of errors. This paper analyzes the impact of gravitational anomalies on various stages of position calculation in INS and their influence on accuracy. The study includes the examination of gravitational disturbances using spherical harmonic decomposition and Legendre series, employing models like EIGCN-6C4 and WGS-84. It also explores the impact of these disturbances on initial alignment, the overall INS navigation process, and methods for compensating gravitational disturbances. Finally, simulations are conducted to validate the proposed hypotheses. This comprehensive analysis aims to enhance the understanding of gravitational disturbances and improve the accuracy and reliability of INS through detailed simulations and practical solutions.