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中文摘要：
从重力学和牛顿力学的基本概念出发，给出了包含重力扰动影响的惯导误差力学编排方程，以单通道惯导系统为例，讨论了三种变化情况下，由垂线偏差引起的惯导位置误差及其误差传播特性，并以分辨率为1＇×1＇的某区域垂线偏差数据为背景场进行仿真。由仿真结果可以看出，在设定航线上，垂线偏差引起的惯导系统水平误差最大可达3km。
英文摘要：
The error of high-accuracy inertial navigation system（INS） caused by the gravity disturbance can＇t be neglected. Starting from the physical geodesy and Newton＇s second law, an error dynamics equation of INS, including the influence of gavity disturbance, is firstly presented in this paper. Then, taking single-axis INS as an example, the position error caused by the deflection of vertical and corresponding characteristics of error propagation in three situation were analyzed. Finally, simulation was done on 1＇ × 1＇ deflection of vertical database, and from the simulation result we can see that the horizontal error of INS caused by deflections of the vertical on the sailing course can reach as large as 3 km.
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