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Correction Method of Horizontal Component Error of Strapdown Gravity Meter Using Gravity Field Model

A gravitational field model and horizontal component technology, applied in instruments, geophysical measurements, etc., can solve problems such as poor practicability, and achieve the effect of small additional workload, strong operability, and good theoretical basis

Active Publication Date: 2020-09-08
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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  • Correction Method of Horizontal Component Error of Strapdown Gravity Meter Using Gravity Field Model
  • Correction Method of Horizontal Component Error of Strapdown Gravity Meter Using Gravity Field Model
  • Correction Method of Horizontal Component Error of Strapdown Gravity Meter Using Gravity Field Model

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Embodiment Construction

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

[0029] Such as figure 1 As shown, the method for correcting the horizontal component error of the strapdown gravimeter using the gravity field model of the present invention has the following specific procedures:

[0030] 1. Preprocessing the original data of strapdown aviation gravimeter: the original pulse number of accelerometer and gyroscope obtained by strapdown aviation gravimeter N 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 the GNSS raw data to obtain carrier position, velocity and acceleration information: Determine the...

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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 strap-down aviation gravimeters, in particular to a method for correcting errors in the horizontal component measurement results of strap-down aviation gravimeters by using a gravity field model, and belongs to the field of gravity measurement. Background technique [0002] The traditional dynamic gravimeter uses a dual-axis stable platform to ensure the vertical orientation of the sensitive axis of the gravity sensor. The strapdown aerial gravimeter uses a mathematical platform to replace the physical platform to achieve 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, the use of accelerometer and gyro data for attitude calculation will have attitude errors, which will affect the measu...

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Application Information

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Patent Type & Authority Patents(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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