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To address the accuracy requirements of initial alignment of high-precision inertial navigation systems (INSs), gravity disturbance compensation for INSs based on a spherical harmonic model is investigated herein. First, the horizontal component of gravity disturbance at an alignment point is calculated using the high-resolution Earth Gravity Model EIGEN-6C4 and then compensated to the initial alignment. Subsequently, the self-alignment algorithm of solidified coordinate frame is used to derive the misalignment angle equation of gravity disturbance affecting the initial alignment. Meanwhile, the coupling relationship between the measurement error of an inertial unit and the gravity disturbance is simulated and analyzed. Finally, a laser strapdown inertial navigation system experiment is performed. The simulation result shows that the pitch angle, roll angle, and heading angle errors reduced by <inline-formula> <tex-math notation="LaTeX">$27.41^{\prime \prime }$ </tex-math></inline-formula>, <inline-formula> <tex-math notation="LaTeX">$- 0.37^{\prime \prime }$ </tex-math></inline-formula>, and <inline-formula> <tex-math notation="LaTeX">$6.72^{\prime \prime }$ </tex-math></inline-formula>, respectively, after the gravity disturbance compensation. Experiment result shows that the alignment performance after compensation has been improved and the heading angle error is reduced by <inline-formula> <tex-math notation="LaTeX">$6.76^{\prime \prime }$ </tex-math></inline-formula>. The simulations and experiments results validate the theoretical analysis.

Analysis of Gravity Disturbance Compensation for Initial Alignment of INS