The invention discloses a time
delay compensation method in an
inertia gravity matching combined
navigation system. The method comprises the following steps: acquiring
latitude and
longitude lambda (
img file='DDA 0000458357530000011.TIF' wi='71' he='48'), course psi and velocity V output by an
inertial navigation system and a gravity
signal acquired by a gravity meter; 2, calculating an Eotvos correction value of the gravity
signal, and performing filtering
processing on the Eotvos correction value; 3, determining the
delay time of the gravity
signal; 4, acquiring a carrier position at the corresponding moment of the gravity signal by utilizing a matching
algorithm based on a gravity contour; 5, establishing a
Kalman filter model; 6, taking the
latitude and
longitude at the carrier position as the observed quantity, estimating the error of the
inertial navigation system at a corresponding time point of the gravity signal by utilizing Kalman filtering, and correcting the
inertial navigation system; and 7, performing Kalman filtering, predicting a
state vector at a current moment in multiple steps, and finishing time
delay compensation. The method has the advantages of gravity signal time delay compensation and high navigation precision.