Abstract
Gravity affects the three solution channels of ESG inertial navigation system, which makes the influence of gravity complex. For ESG inertial navigation system, The gravity inaccuracy is composed of three parts, the first part is the calculation error of the normal gravity; the second part is the vertical deflection between the normal gravity and geoid normal; the third part is gravity anomaly caused by the uneven distribution of Earth's density. By solving the error equations and simulating, we quantitatively analyze the influence of gravity inaccuracy in the ESG inertial navigation system. The conclusion will provide a theoretical basis for the compensation of gravity inaccuracy.
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