Compensation method for gravity meter biax gyrostabilized platform course error effect

Abstract

The invention provides a compensation method for gravity meter biax gyrostabilized platform course error effect. The method comprises the following steps: collecting the gyroscope signal and the accelerometer signal, the GPS output position and the speed signals of the gravity meter biax gyrostabilized platform; obtaining the output acceleration and the gyroscope angular rate compensation dosage according to the error characteristic equation of the accelerometer and the gyroscope; introducing external speed damping; filtering the external speed, and combining with the speed damping, so that maneuvering influence to a carrier is reduced to the minimum; obtaining the course and the course error according to the output equation of the gyroscope and the accelerator; determining a compensation scheme of the course error effect; carrying out horizontal error correction on the measured gravity signal. According to the invention, the horizontal error caused by course error is corrected by the external speed damping and the latitude information provided by GPS, and the horizontal precision of the gravity meter biax gyrostabilized platform can be effectively improved, so that the gyrostabilized platform can quickly restore to be steady after maneuvering, thus having strong actual practical meaning.

Description

technical field [0001] The invention relates to a combined navigation method, in particular to a compensation method for the heading error effect of a gravimeter dual-axis gyro stabilization platform. Background technique [0002] Compared with marine gravity measurement, airborne gravity measurement is getting more and more attention. There are two main reasons: 1. With the assistance of aircraft, it can be measured in the air and can reach some areas that are difficult for ships to enter (such as the Arctic); 2. Airborne gravity measurement is more efficient because compared with ocean gravity measurement, More areas can be measured within. However, relative to marine gravity measurement, there are still the following problems to be solved: [0003] 1. The aircraft has a faster speed and acceleration, which has a greater impact on the measurement; [0004] 2. It is necessary to design a smaller size gyro-stabilized platform; [0005] 3. Due to the high cost of fuel for...

AI Technical Summary

Problems solved by technology

[0005] 3. Due to the high cost of fuel for aviation vehicles, the disturbance of the gyro-stabilized platform must be minimized in magnitude and time;

When the aircraft is maneuvering, the heading changes from time to time, causing the gyro-stabilized platform to work unstable

The horizontal error will make the gravity sensor sensitive to the horizontal acceleration, which will increase the measurement error

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