On gravity disturbance compensation technology of high-precision SINS based on B-spline method

Errors of high-precision strapdown inertial navigation system (SINS) resulted by gravity disturbance vector cannot be neglected. After analyzed principal of how gravity disturbance affects precision of SINS, the errors induced by gravity disturbance were compensated using B-spline least-square method. Simulation results show that the compensation of B-spline gravity disturbance model can reduce the SINS errors effectively and improve the navigation accuracy clearly.