Nonlinear Parameter Estimation and Experimental Verification of Gravity Sensor Considering Quadratic Error Parameters

Abstract

With the rapid development of inertial navigation technology, the proportion of inertial navigation technology in navigation and positioning is getting higher and higher. The measurement accuracy requirements of inertial components are getting higher and higher. Based on the mature linear calibration method, this article calibrates the quadratic error of the accelerometer component in the inertial component and compensates the error term. In theory, the least squares estimation is used to solve the quadratic parameter. After considering the quadratic term, the measurement accuracy of the gravity sensor has been improved, and the laboratory gravimeter has been used for marine experiments. The experimental results show that the positioning deviation considering the quadratic error term is smaller than the positioning deviation considering only the first error term.