Zero velocity update technology (ZUPT) has frequently been used as a tool to reduce divergence when the inertial navigation system (INS) is working in pure inertial mode. In general, the normal gravity model is adopted to calculate the gravity vector, and the effect of gravity disturbance is neglected. We present a new point of view to explain the influence of gravity disturbance on INS and point out that gravity disturbance is one of the most significant error sources of the high-precision INS. Two real-time gravity disturbance compensation methods are proposed. An about 110-km-long vehicle test has been conducted in mountainous terrain with a drastic change of gravity disturbance. The test results proved the correctness of the new explanation and the feasibility of the two on-line compensation algorithms for land vehicles. With gravity disturbance compensation in conjunction with ZUPTs, the total horizontal error at the end of the test was reduced from 8.93 to 3.75 m, and the elevation error was reduced from 1.63 to 0.80 m.

中文翻译：

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高精度惯性导航系统中重力干扰的分析与在线补偿

惯性导航系统（INS）在纯惯性模式下工作时，零速度更新技术（ZUPT）经常被用作减少发散的工具。一般而言，一般采用重力模型来计算重力矢量，而忽略了重力扰动的影响。我们提出了一种新的观点来解释重力扰动对INS的影响，并指出重力扰动是高精度INS最重要的误差源之一。提出了两种实时重力扰动补偿方法。在重力干扰急剧变化的山区，进行了大约110公里的车辆测试。测试结果证明了新解释的正确性以及两种在线车辆补偿算法的可行性。