Gravity measuring method based on strapdown inertia/GPS combined auxiliary horizontal angular motion isolation

A technology of gravity measurement and strapdown inertia, which is applied in the direction of measuring device, gravitational field measurement, geophysical measurement, etc., can solve the problems of dynamic response error, gravity measurement error, azimuth axis can not isolate the angular motion of the carrier, etc., to achieve estimation and Effects of compensation, improvement of measurement accuracy, improvement of dynamic environment adaptability and gravity measurement accuracy

Active Publication Date: 2018-05-18
TIANJIN NAVIGATION INSTR RES INST
View PDF3 Cites 19 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the above process, due to the calculation error of platform horizontal correction moment amount caused by the error of gyro and accelerometer components, the azimuth axis cannot isolate the angular motion of the carrier, the inertial stability error caused by the horizontal gyro coupling azimuth rotation, and the dynamic response e

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Gravity measuring method based on strapdown inertia/GPS combined auxiliary horizontal angular motion isolation
  • Gravity measuring method based on strapdown inertia/GPS combined auxiliary horizontal angular motion isolation
  • Gravity measuring method based on strapdown inertia/GPS combined auxiliary horizontal angular motion isolation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0016] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0017] A gravity measurement method based on strapdown inertia / GPS combination assisted horizontal angular motion isolation, comprising the following steps:

[0018] Step 1. During the actual measurement process, the strapdown inertial information measurement unit (IMU) is basically maintained at a geographically horizontal position through the control of the two-axis stable platform.

[0019] Such as figure 1 As shown, the IMU of the gravimeter uses a dual-axis stable platform to isolate the horizontal angular motion of the carrier. The two horizontal gyros in the IMU are coaxial with the inner and outer ring frames for feedback control of the stable platform. The vertical gyro is responsible for the azimuth motion measurement. The three accelerometers together constitute the inertial navigation control mode of the rate and azimuth platform. ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a gravity measuring method based on strapdown inertia/GPS combined auxiliary horizontal angular motion isolation; the method comprises the following steps: in an actual measurement process, a double-shaft stabilized platform is arranged outside the IMU of a gravimeter so as to isolate the horizontal angular motion of a carrier, and a horizontal torquing amount is formed bynavigation resolving under dynamic conditions so as to control the platform to track the geography level; in the anaphase processing process of the gravity measuring data, the DGPS information is combined so as to complete Kalman filter estimation of residual horizontal errors, thus rotating the IMU specific force measured value to the geography coordinate system direction through postures. In the actual measurement process, the method uses the double-shaft inertia stabilized platform to control, thus keeping the IMU the be basically at the geography horizontal position; in the anaphase processing process of the actual measurement IMU data, the high precision difference GPS information is combined to complete the Kalman filter estimation of residual horizontal errors, thus realizing estimation and compensation of the gravity sensor element errors, and improving the dynamic environment adaptability and gravity measuring precision in the gravity measurement.

Description

technical field [0001] The invention belongs to the technical field of dynamic gravity measurement, in particular to a gravity measurement method based on strapdown inertial / GPS combined auxiliary horizontal angular motion isolation. Background technique [0002] In the process of dynamic gravity measurement, if the strapdown inertial information measurement unit (IMU) is directly connected to the carrier, the gravity sensor will always move with the carrier, especially the angular movement in the horizontal direction will amplify the gravity sensor and the horizontal direction. The influence of non-orthogonal error, scale factor error and other factors on the accuracy of gravity measurement. Therefore, a dual-axis platform is added to the periphery of the IMU to achieve inertial stabilization and real-time tracking of the geographic coordinate system through the IMU gyro and accelerometer information to ensure that the sensitive axis direction of the gravity sensor is alway...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01V7/00
CPCG01V7/00
Inventor 高巍周贤高裴志张子山毋兴涛
Owner TIANJIN NAVIGATION INSTR RES INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap