Abstract
A self-contained, passive, jam-proof gravity gradiometer aided inertial navigation system (INS) is proposed in the event of GPS signal loss. The paper presents a survey of gradiometer instruments, background on modeling the gravity field, and the first comprehensive methodology to implement a strapdown or stabilized gradiometer into an extended Kalman filter. Monte Carlo simulations of a hypersonic scramjet missile over a 1000 km cruise indicate that gradiometer updates significantly improve the navigation accuracy of an autonomous INS. The sensitivities of the system to variations in inertial measurement unit (IMU) quality, gravity field, noise, update rate, and sensor type are also investigated along with a baseline INS/GPS system. Given emerging technologies that have the potential to drastically decrease gradiometer noise levels, a projected future gravity gradiometer system is shown to bound root-mean-square (RMS) position errors at 0.336 m, velocity errors at 0.0069 m/s, and attitude errors at 0.00977 , which is comparable to an INS/GPS system with 10 sec updates.
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