An inertial gravity matching navigation system combined compensation method of time delay

The present invention discloses a method for compensating gravitational inertial navigation system to match the time delay, comprising the following steps, a step of collecting the latitude and longitude λ inertial navigation system output, speed and heading ψ V and measured gravity gravimeter signal; two step, calculating the gravity Cheviot Firth correction signal, and the correction value Cheviot Firth filtering process; step three, the signal delay time is determined gravity; step 4 using the matching algorithm gravity contours acquiring a signal corresponding to the gravity vector time position; step five, the establishment of a Kalman filter model; step six, the latitude and longitude of the position vector are used as measurements using the Kalman filter estimated in real time gravitational inertial navigation system error signal corresponding to the time point , for correcting inertial navigation system; step 7 Kalman filter multistep predicted state vector at the current time, the time delay compensation is completed. The present invention has the advantage of gravity compensating signal delay time, a high navigation accuracy.