Abstract：With data obtained from a high precision strapdown inertial measure unit, in this research, static experiments are carried out for the land based inertial gravimetry, initially examining the influence factors for static inertial gravimetry. Results from our static experiments show that with a moving average filter, most high frequency noise from the quartz flexible accelerometers is mitigated, and the corresponding standard deviation of gravity observation that derived from the test IMU is achieved at about 1.5 mGal with 30 s averaging. However, due to instrument instability and observation environment, an upward temporal trend in the observed gravity value can still be noticed. By modeling the temporal trend with regression analysis and detecting the initial unknown IMU observation bias from the beginning known gravity point, the error of observed gravity value can be calculated and compensated. Using this method, in our vehicle-based experiment the observation precision at most ZUPT points is successfully improved from 12-20 mGal to 2 mGal.
