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利用重力加速度在惯性系投影呈圆锥慢漂的特性,以及漂移的角度与纬度之间的几何关系,建立相关方程,推导了纬度自估计公式。同时,为了降低加速度计噪声对纬度自估计的影响,提出了将重力加速度积分的方法,并进行了理论证明。该方法可有效平滑掉加速度计噪声的干扰,使估计结果更准确,数值仿真验证了所提方法的有效性。
Based on the characteristics of gravitational slow-drift of gravity acceleration in inertial projection and the geometric relationship between drift angle and latitude, the correlation equation was established and the latitude self-estimation formula was deduced. At the same time, in order to reduce the impact of accelerometer noise on latitude self-estimation, a method of integrating the gravitational acceleration is proposed and theoretically proved. The proposed method can effectively smoothen the accelerometer noise and make the estimation more accurate. The numerical simulation verifies the effectiveness of the proposed method.