Abstract
To lower the cost of passive gravity navigation and dynamic gravity measurement, a rate azimuth inertial platform with a gravity sensor on it was put forward to compose a navigator with gravity measuring. Some research about this rate azimuth platform inertial navigation system was carried out, the rate azimuth horizontal reference frame and actual platform reference frame were set up, the error equationuations, which including position error, velocity error, platform angle error, course error were put up, which would contribute to the integrated system, and the simulation of error for the rate azimuth inertial platform was shown of system errors was shown.
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