Strapdown gravimeter horizontal component error correction method through utilization of gravity field model

A technology of gravity field model and horizontal component, which is applied in the direction of instruments and geophysical measurements, can solve the problems of poor practicability and achieve the effect of small extra workload, simple implementation and good theoretical basis

Active Publication Date: 2019-07-26
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0004] The problem to be solved by the present invention is: for the problem that the existing error correction method needs to rely on other information other than this measuring line, and the practicability is not strong, according to the attitude calculation error characteristics of the strapdown aviation gravimeter, using A New Error Correction Method for Gravity Field Model Design

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  • Strapdown gravimeter horizontal component error correction method through utilization of gravity field model
  • Strapdown gravimeter horizontal component error correction method through utilization of gravity field model
  • Strapdown gravimeter horizontal component error correction method through utilization of gravity field model

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[0028] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0029] like figure 1 As shown, the method for correcting the horizontal component error of the strapdown gravimeter using the gravity field model according to the present invention, its specific process is:

[0030] 1. Preprocess the raw data of the strapdown airborne gravimeter: the original pulse number N of the accelerometer and gyroscope obtained by the strapdown airborne gravimeter a and N g Through equivalent conversion into normal specific force f and angular velocity w, the calibration parameter accelerometer scale factor K required for equivalent conversion a , accelerometer zero bias B a , Gyro scale factor K g and gyro bias B g It is obtained by calibrating the strapdown aviation gravimeter.

[0031] f=K a ·N a +B a (1)

[0032] w=K g ·(N g -B g ) (2)

[0033] 2. Process GNSS raw data to obtain carrier position, velocity and accelera...

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Abstract

The invention belongs to the field of gravity measurement, specifically discloses a strapdown gravimeter horizontal component measurement error correction method through utilization of an earth gravity field model and aims at eliminating a low frequency error in a gravimeter measurement result horizontal component. The low frequency error results from an attitude error. The method comprises the steps of (1), preprocessing original data of a strapdown airborne gravimeter; (2), processing the original data of a GNSS to obtain carrier position, speed and acceleration information; (3), carrying out combined Kalman filtering on the strapdown gravimeter and the GNSS to obtain specific force; (4), computing difference between a specific force result and carrier acceleration of the GNSS to obtaina gravity vector estimated result; (5), carrying out lowpass filtering on the gravity vector result to eliminate a high frequency noise; and (6), carrying out highpass filtering on the gravity vectorresult to eliminate a low frequency part comprising the attitude error and replacing the low frequency part through utilization of a computing result of the earth gravity field model, thereby obtaining a horizontal component estimated result in which the attitude error is eliminated. The method is characterized by good theoretical basis, high operability and simple realization.

Description

technical field [0001] The invention relates to a method for correcting errors in the horizontal component measurement results of a strapdown aviation gravimeter, in particular to a method for correcting errors in the horizontal component measurement results of a strapdown aviation gravimeter by using a gravity field model, and belongs to the field of gravity measurement. Background technique [0002] The traditional dynamic gravimeter uses a two-axis stable platform to ensure the vertical orientation of the sensitive axis of the gravity sensor. The strapdown aviation gravimeter uses a mathematical platform to replace the physical platform to realize the vertical and horizontal orientation of the gravity sensor. Accelerometers and gyroscopes are the core components of strapdown aviation gravimeters. Due to the inherent error characteristics of inertial navigation, there will be attitude errors when using accelerometer and gyroscope data for attitude calculation. Low-frequen...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V13/00
CPCG01V13/00
Inventor 蔡劭琨曹聚亮吴美平于瑞航
Owner NAT UNIV OF DEFENSE TECH
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