Gravimeter calibration error compensation system

Abstract

The invention relates to a gravimeter calibration error compensation system, which belongs to the technical field of geophysical exploration, and comprises a double-layer decoupling and environment sensing module used for acquiring external environment parameters and internal structure strain vectors in real time; the quantum state pre-compensation module is used for responding to external environment parameters and resolving pre-compensation control parameter vectors based on a preset pre-compensation model, the measurement basis is purified, extremely favorable initial conditions are created for subsequent fine correction, the effect of the quantum state pre-compensation system is far better than that of a passive or static scheme in the prior art, and the measurement accuracy is greatly improved. The scalpel type stripping of dynamic structure interference is realized, the purity of the generated corrected gravity value is ensured, and the inherent contradiction that a precise instrument is either precise but easy to lose efficacy or reliable but low in precision in a severe environment is solved.

Description

Technical Field

[0001] This invention relates to the field of geophysical exploration technology, specifically to a gravimeter calibration error compensation system. Background Technology

[0002] In the exploration of deep-sea hydrothermal sulfide deposits, mobile gravity measurement is one of the core detection methods. Quantum gravity gradiometers have great potential in deep-sea exploration due to their high sensitivity. However, in extreme environments such as hydrothermal plumes, the drastic and rapid changes in temperature and pressure can cause dynamic structural deformation of the pressure-sealed cavity that carries the quantum sensing core. This deformation directly disturbs the precise physical environment inside the cavity, such as the optical path and magnetic field, and thus interferes with the quantum state in the atomic interference process. This complex coupling effect is a problem that existing technologies cannot effectively solve.

[0003] Existing solutions mostly employ passive isolation or static compensation models based on single parameters, which have limited effectiveness when facing dynamic coupling errors. This results in a trade-off between the instrument's measurement accuracy and dynamic adaptability, making it impossible to maintain... While maintaining high precision, ensuring reliable operation in harsh environments severely limits the effectiveness of deep-sea quantum gravity exploration.

[0004] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a gravimeter calibration error compensation system to solve the problems mentioned in the background art.

[0006] The technical solution of the present invention includes: a dual-layer decoupling and environmental sensing module, used to collect external environmental parameters and internal structural strain vectors in real time; The quantum state pre-compensation module is used to calculate the pre-compensation control parameter vector based on a preset pre-compensation model in response to external environmental parameters. The strain-quantum state real-time mapping and error correction module is used to acquire the original gravity reading and, in response to the strain vector of the internal structure, calculate the real-time error compensation value based on the preset strain-gravity error real-time mapping model, and subtract the real-time error compensation value from the original gravity reading to generate the corrected gravity value. The adaptive measurement strategy control module is used to combine external environmental parameters and real-time error compensation values ​​to calculate the dynamic operating condition index based on a preset dynamic operating condition index model. When the dynamic operating condition index is lower than the preset low threshold, a high-precision mode command is generated. When the dynamic operating condition index is not lower than the low threshold and is lower than the preset high threshold, a collaborative compensation mode instruction is generated. When the dynamic operating condition index is not lower than the high threshold, a highly robust mode instruction is generated.

[0007] Preferably, the quantum state pre-compensation module is specifically used to: obtain the current value and rate of change of the external environmental parameters; and, in combination with the current value and rate of change, calculate the pre-compensation control parameter vector based on the preset reference environmental parameters and the pre-compensation response matrix.

[0008] Preferably, the pre-compensation control parameter vector includes adjustments to the laser frequency and adjustments to the bias magnetic field.

[0009] Preferably, the strain-gravity error real-time mapping model is used to calculate the real-time error compensation value based on the linear, quadratic, and cross terms of the strain vector of the internal structure, combined with preset weighting coefficients.

[0010] Preferably, the dynamic operating condition index model is used to: determine the normalized fluctuation of external pressure, the normalized fluctuation of external temperature change rate, and the normalized value of compensation load; and to perform a weighted summation of the normalized fluctuation of external pressure, the normalized fluctuation of external temperature change rate, and the normalized value of compensation load to generate the dynamic operating condition index.

[0011] Preferably, the normalized value of the compensation load is determined by the following method: within a preset time window, the root mean square of the real-time error compensation value is calculated; and the root mean square is divided by the preset target accuracy to obtain the normalized value of the compensation load.

[0012] Preferably, the low threshold and the high threshold are determined by the following method: in a laboratory environment, the correspondence between instrument performance and dynamic operating condition index under different measurement modes is obtained to form a performance curve; the inflection point where the performance of the high-precision mode is inferior to that of the collaborative compensation mode is determined as the low threshold; and the inflection point where the performance of the collaborative compensation mode deteriorates and the performance of the high-robust mode improves is determined as the high threshold.

[0013] Preferably, high-precision mode instructions, cooperative compensation mode instructions, and high-robustness mode instructions are used to adjust the interference time of the quantum system.

[0014] This invention provides an improved gravimeter calibration error compensation system, which has the following improvements and advantages compared with the prior art: 1. This invention constructs a complete closed-loop control system through the coordinated operation of four major modules, encompassing environmental perception, feedforward prediction, real-time correction, and policy adaptation. The dual-layer decoupling and environmental perception module, as the system's fundamental sensing unit, continuously captures external environmental temperature and pressure parameters while simultaneously monitoring the microstructural strain vectors within the instrument caused by stress transmission. These multi-source, heterogeneous data streams are then sent to subsequent compensation and correction modules, driving the entire system to actively and collaboratively suppress dynamic coupling errors. This architecture transcends the passive physical isolation or static single-parameter compensation models of existing technologies. It does not simply resist environmental disturbances but actively recognizes, quantifies, and adapts to them, thereby ensuring the quantum gravimeter maintains its stability. While achieving high-level measurement accuracy, it also possesses the ability to operate reliably in harsh dynamic environments, thus achieving a balance between high precision and high reliability; 2. In the feedforward control stage of this system, the quantum state pre-compensation module plays a crucial predictor role. Its core task is to actively cancel the system drift caused by slow changes in the macroscopic environment before the formal measurement begins. This function is built on a core physical principle: the response of any physical system within a small perturbation range can be linearly approximated by its first-order Taylor expansion at the equilibrium point. The technical motivation is to actively maintain the quantum sensing system in its optimal operating region by predicting and compensating for these foreseeable slow-change drifts in advance, thereby greatly reducing the burden on the subsequent real-time fine correction stage. Attached Figure Description

[0015] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a flowchart of a gravimeter calibration error compensation system according to the present invention; Figure 2 This is a flowchart illustrating the method for determining the low and high thresholds in this invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0017] Example 1: Please see Figure 1 The present invention provides a technical solution for a gravimeter calibration error compensation system, comprising: a dual-layer decoupling and environmental sensing module, used to collect external environmental parameters and internal structural strain vectors in real time; The quantum state pre-compensation module is used to calculate the pre-compensation control parameter vector based on a preset pre-compensation model in response to external environmental parameters. The strain-quantum state real-time mapping and error correction module is used to acquire the original gravity reading and, in response to the strain vector of the internal structure, calculate the real-time error compensation value based on the preset strain-gravity error real-time mapping model, and subtract the real-time error compensation value from the original gravity reading to generate the corrected gravity value. The adaptive measurement strategy control module is used to combine external environmental parameters and real-time error compensation values ​​to calculate the dynamic operating condition index based on a preset dynamic operating condition index model. When the dynamic operating condition index is lower than the preset low threshold, a high-precision mode command is generated. When the dynamic operating condition index is not lower than the low threshold and is lower than the preset high threshold, a collaborative compensation mode instruction is generated. When the dynamic operating condition index is not lower than the high threshold, a highly robust mode instruction is generated.

[0018] The gravimeter calibration error compensation system disclosed in this embodiment aims to overcome the core technical bottlenecks faced by mobile quantum gravity measurements in extreme environments such as deep-sea hydrothermal vents. In such scenarios, drastic dynamic changes in temperature and pressure can directly cause structural deformation of the instrument's core cavity, thereby contaminating the precise quantum measurement process. This system constructs a complete closed-loop control system from environmental perception, feedforward prediction, real-time correction to strategy adaptation through the coordinated operation of four modules. The dual-layer decoupling and environmental perception module, as the basic sensing unit of the system, continuously captures the temperature and pressure parameters of the external environment, while monitoring the microstructural strain vector caused by stress transmission inside the instrument. These multi-source, heterogeneous data streams are then sent to the subsequent compensation and correction modules, driving the entire system to actively and collaboratively suppress dynamic coupling errors. This architecture transcends the passive physical isolation or static single-parameter compensation models in existing technologies. It does not simply resist environmental disturbances, but actively recognizes, quantifies, and adapts to disturbances, thereby ensuring that the quantum gravimeter maintains its accuracy. While achieving high-precision measurement accuracy, it also possesses the ability to operate reliably in harsh dynamic environments, thus achieving a balance between high precision and high reliability.

[0019] Example 2 The quantum state pre-compensation module is specifically used to: obtain the current value and rate of change of external environmental parameters; and, in combination with the current value and rate of change, calculate the pre-compensation control parameter vector based on the preset reference environmental parameters and the pre-compensation response matrix. The pre-compensation control parameter vector includes adjustments to the laser frequency and the bias magnetic field.

[0020] In the feedforward control stage of this system, the quantum state pre-compensation module plays a crucial predictive role. Its core task is to proactively cancel the system drift caused by slow changes in the macroscopic environment before the formal measurement begins. This function is built upon a core physical principle: the response of any physical system within a small perturbation range can be linearly approximated by its first-order Taylor expansion at the equilibrium point. The technical motivation is to proactively maintain the quantum sensing system in its optimal operating region by predicting and compensating for these foreseeable slow-change drifts in advance, thereby greatly reducing the burden on the subsequent real-time fine-calibration stage. The core function of this module is implemented through a pre-compensation model, mathematically expressed as:

[0021] in, The calculated pre-compensation control parameter vector has specific components that are direct adjustments to the hardware parameters of the quantum system, such as adjustments to the laser frequency. Adjustment amount for the bias magnetic field ; and These are the current values ​​of external ambient temperature and pressure, provided in real time by the environmental sensing module. and That is the corresponding rate of change; and These are reference environmental parameters determined through calibration in a laboratory environment to achieve optimal system performance. , All are pre-compensated response matrices, which characterize the transfer function relationship between environmental disturbances and required control compensation. The numerical values ​​are obtained through system-level experimental identification and least squares fitting in a controllable environment simulation chamber. The identification process of this experiment is as follows: In the environmental simulation chamber, the system is placed under reference environmental parameters. and At this point, the system is confirmed to be at its optimal performance point by using indicators such as interference fringe contrast or signal-to-noise ratio. Subsequently, known and precise perturbations are applied to environmental parameters independently or in combination. For example, linear scanning, step perturbation, or sinusoidal perturbation at a specific frequency are performed within a preset operating range, such as a temperature of 0-40°C and a pressure of 1-400 bar. While applying the perturbation, the laser frequency is adjusted in real time through closed-loop feedback. With bias magnetic field To always keep the system at its optimal performance point; record the values ​​of the series of environmental disturbances applied, such as... and And the corresponding control adjustments required to offset its effects. Based on these large amounts of input-output data pairs, the least squares method is used to refine the formula. By fitting the data, the specific response matrix can be obtained. , ; During deep-sea exploration vessel navigation, when instruments approach hydrothermal plume regions, the quantum state pre-compensation module acquires real-time environmental change values ​​and their rates of change, and uses this model to quickly calculate the required hardware adjustments. And apply it immediately; this ensures that the quantum state at the core of the system is always stabilized near the optimal operating point when faced with predictable environmental drift, creating a stable and reliable benchmark for subsequent real-time error stripping. This is an efficient feedforward control that greatly improves the system's environmental adaptability on a macroscopic scale.

[0022] Example 3 The strain-gravity error real-time mapping model is used to calculate the real-time error compensation value based on the linear, quadratic, and cross terms of the strain vector of the internal structure, combined with preset weighting coefficients.

[0023] After the system completes feedforward pre-compensation, the strain-quantum state real-time mapping and error correction module undertakes a more refined real-time correction task. Its core lies in eliminating the complex coupling errors caused by high-speed, microscopic deformation within the instrument cavity, which the pre-compensation mechanism cannot eliminate. The technical approach stems from a deep understanding of nonlinear system modeling, particularly drawing on polynomial expansion methods. Since the influence of physical structural deformation on precision measurements often includes nonlinear and multi-point coupling effects, the model not only includes linear terms corresponding to the main elastic effect but also introduces second-order terms characterizing higher-order effects, as well as crucial cross-terms describing the influence of complex deformation modes caused by strain coupling at different locations. To achieve this goal, the corrected gravity value... By reading from the original gravity... Subtract the real-time error compensation value The logical relationship is expressed as follows: The real-time error compensation value is calculated in real time by the following mapping model:

[0024] in, This is the real-time gravity error compensation value directly output by this model, with the physical dimension in units of acceleration, for example... ; The first is provided by the environmental perception module. The real-time strain at each measuring point is a dimensionless quantity. It is the total number of strain sensors deployed on the precision control cavity inside the instrument; These are the core weight coefficients of the model, with physical dimensions and Consistent numerical values ​​are obtained by applying a known mechanical excitation on a vibration table, simultaneously recording gravity error and strain data, and then solving the problem using a multivariate regression analysis method. To ensure the effectiveness of the model, the layout of the strain sensors is crucial; for example, the layout can be selected... Several sensors are symmetrically deployed within the instrument's precision control cavity at key load-bearing structures, geometric centers, and locations of anticipated maximum deformation. The known mechanical excitation can be a sweeping sinusoidal vibration with a frequency range of 0.1-100 Hz applied along the X, Y, and Z axes, or a simulation of typical operating conditions, such as the random vibrations of a deep-sea submersible maneuver. Strain values ​​at each measuring point are simultaneously acquired while the excitation is applied. and the resulting fluctuation in gravity readings Using the gravity reading under no-excitation conditions as a benchmark, the fluctuation value... This refers to the real-time error that needs to be compensated. This yields a large dataset, which is then used to refine the model using multiple regression. By fitting the data, stable and reliable weighting coefficients can be obtained. ; When a deep-sea submersible equipped with this system experiences high-frequency vibrations near a hydrothermal vent due to ocean current impacts or its own maneuvering, this model can immediately use the captured strain vector to calculate the precise gravity error value caused by deformation in a very short time and subtract it from the original reading. This process achieves instantaneous and accurate compensation for structural dynamic disturbances, ensuring the purity and reliability of the final output data.

[0025] Example 4 The dynamic operating condition index model is used to: determine the normalized fluctuation of external pressure, the normalized fluctuation of external temperature change rate, and the normalized value of compensation load; and to perform a weighted summation of the normalized fluctuation of external pressure, the normalized fluctuation of external temperature change rate, and the normalized value of compensation load to generate the dynamic operating condition index. The normalized value of the compensation load is determined as follows: within a preset time window, the root mean square of the real-time error compensation value is calculated; and the root mean square is divided by the preset target accuracy to obtain the normalized value of the compensation load.

[0026] As the highest-level controller in this system, the core of the adaptive measurement strategy control module is the dynamic operating condition index model, which provides the system with a global, quantitative situational awareness capability. The model's construction draws inspiration from the weighted scoring method in multi-criteria decision analysis, aiming to integrate multi-source disturbance information with varying physical properties into a single, standardized risk index. This provides clear and quantitative criteria for the dynamic switching of subsequent measurement strategies. The dynamic operating condition index is defined as the following weighted sum:

[0027] in, The final output of the model is a dimensionless scalar; the first term represents the normalized fluctuation of external pressure, with its mean... and standard deviation The data is calculated from the environmental sensing module; the second term is the normalized fluctuation of the external temperature change rate, and its mean absolute value. and standard deviation Similarly, based on data from the environmental perception module, the denominator includes... It is a with The smallest positive constant with the same dimensions is used to prevent division by zero errors caused by constant temperature. The value of should be determined based on the resolution of the temperature sensor used. It should be much smaller than the minimum rate of temperature change that the system can resolve, but numerically sufficient to avoid calculation errors. For example, if the temperature sensor's measurement resolution is 0.001°C / s, then... The value can be selected as °C / s, which ensures that the denominator is not zero when the temperature is basically constant, and does not have a substantial impact on the normal calculation results; The third item is the normalized value of the compensation load, which is the compensation signal output by the error correction module. in the past The root mean square value within each sampling point is used as input, reflecting the internal compensation pressure of the system, and divided by the preset target accuracy. Perform normalization; These are dimensionless weighting factors, which sum to 1. They are allocated based on prior knowledge to assess the relative importance of various disturbance sources to the final accuracy. This reflects the internal compensation pressure of the system and is divided by the preset target accuracy. Normalization is performed; where M is the number of sampling points within the preset time window. Its value should take into account both the instrument sampling rate and the main frequency characteristics of external environmental disturbances. For example, if the main disturbance period is 10 seconds and the sampling rate is 10Hz, then M can be 100 to ensure that the window can fully cover a typical disturbance period. Among them, the preset target accuracy This refers to the optimal measurement accuracy that the gravimeter is designed or expected to achieve under ideal working conditions. Its value is determined according to the design specifications of the instrument, such as 0.01mGal in this embodiment. To ensure a more objective allocation, sensitivity analysis can be used. This involves individually altering pressure fluctuations, temperature change rates, and mechanical vibrations (represented as compensation loads) in the simulation experiment, observing their impact on the final gravity measurement accuracy, such as the standard deviation. Weights are then assigned based on the relative magnitude of each disturbance source's influence on measurement accuracy. For example, if experiments show that, under typical scenarios, pressure fluctuations and compensation loads have roughly equal impacts on accuracy, and both are significantly higher than the impact of temperature change rates, then a set of weights can be set as follows: , , ; This DCI model integrates the degree of drastic change in the external environment with the degree of compensation effort within the system under the same framework, and comprehensively scores the severity of the operating conditions under which the system operates. Its output quantitative index is a prerequisite for achieving intelligent and adaptive control.

[0028] Example 5 like Figure 2 As shown, the low and high thresholds are determined as follows: In a laboratory environment, the correspondence between instrument performance and dynamic operating condition index under different measurement modes is obtained to form performance curves; the inflection point where the performance of the high-precision mode is inferior to that of the collaborative compensation mode is determined as the low threshold; and the inflection point where the performance of the collaborative compensation mode deteriorates and the performance of the high-robust mode improves is determined as the high threshold.

[0029] After the dynamic operating condition index is calculated, the system uses a preset low threshold. With high threshold This triggers the switching of measurement modes; the setting logic of these two thresholds directly affects the final effect of the invention, and the determination process ensures scientific rigor and reproducibility; these two key thresholds are precisely determined through system-level experimental calibration; the entire gravimeter system is placed in a laboratory environment simulation chamber that can accurately simulate different levels of temperature and pressure disturbances and mechanical vibrations, and the simulation chamber is controlled by a program to generate various working conditions from stable to extreme; during this process, the system continuously calculates the DCI value and simultaneously uses different measurement modes, such as high-precision mode, cooperative compensation mode, and high robustness mode, to perform gravity measurements; by analyzing the standard deviation of the output gravity data in each mode, as a quantitative indicator of instrument performance and the relationship with the corresponding DCI value, multiple performance-DCI curves can be plotted; low threshold The DCI value corresponding to the intersection of the high-precision mode performance curve and the cooperative compensation mode performance curve is defined as follows: beyond this point, the performance of the high-precision mode begins to deteriorate compared to the cooperative compensation mode; high threshold. The critical DCI value at which the performance curve of the collaborative compensation mode begins to deteriorate sharply, and switching to the high robustness mode can significantly improve the measurement results, is identified. This method of determining the threshold based on the inflection point of the measured performance curve ensures the objectivity and optimization of the threshold setting, and directly links the abstract mode switching logic with the performance of the instrument in the real physical world, so that every strategy switch occurs at the most favorable time for the system.

[0030] Example 6 High-precision mode commands, cooperative compensation mode commands, and high-robustness mode commands are used to adjust the interference time of quantum systems; The mode commands generated by the adaptive measurement strategy control module are not vague logical signals, but execution commands that directly affect the core physical processes of quantum sensing. In this embodiment, these commands are mainly used to dynamically adjust the core operating parameter of the quantum system—atomic interference time. When the DCI value calculated by the system is lower than a low threshold... When the current internal and external environment is extremely stable, the high-precision mode command generated at this time will instruct the quantum system controller to use a longer interference time in order to obtain higher measurement sensitivity and accuracy; conversely, when the DCI value exceeds the high threshold... When this occurs, it indicates that the system is experiencing extreme disturbances. At this time, the generated high-robustness mode command will decisively instruct the controller to switch to a shorter interference time, thereby sacrificing some theoretical accuracy to improve the success rate and integrity of data acquisition under extreme conditions. This trade-off between precision and robustness can be quantified through core parameters; the theoretical sensitivity of a quantum gravimeter is typically related to the interference time. It is proportional to the square of, that is For example, if the interference time in high-precision mode is Then, when switching to a high-robustness mode and shortening the interference time to At that time, the theoretical sensitivity will decrease by approximately The shorter interference time significantly improves the system's tolerance to high-frequency vibrations and rapid environmental changes, avoiding the situation where the interference fringes completely disappear due to excessive vibration, making it impossible to calculate the gravity value. This increases the effective data acquisition rate from less than 50% under extreme conditions to over 95%. In normal dynamic operating conditions where the DCI value is between the two, the collaborative compensation mode command will instruct the system to adopt a standard intervention time that takes into account both accuracy and stability. In this way, the mode command accurately transforms the top-level strategy judgment into the optimized configuration of the underlying physical parameters, completing the complete feedback loop of perception-decision-execution, making the instrument an adaptive system that can autonomously optimize its core operating parameters based on quantified operating condition indices.

[0031] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A gravimeter calibration error compensation system, characterized in that, include: A dual-layer decoupling and environmental sensing module is used to collect external environmental parameters and internal structural strain vectors in real time; The quantum state pre-compensation module is used to calculate the pre-compensation control parameter vector based on a preset pre-compensation model in response to external environmental parameters. The strain-quantum state real-time mapping and error correction module is used to acquire the original gravity reading and, in response to the strain vector of the internal structure, calculate the real-time error compensation value based on the preset strain-gravity error real-time mapping model, and subtract the real-time error compensation value from the original gravity reading to generate the corrected gravity value. The adaptive measurement strategy control module is used to combine external environmental parameters and real-time error compensation values ​​to calculate the dynamic operating condition index based on a preset dynamic operating condition index model. When the dynamic operating condition index is lower than the preset low threshold, a high-precision mode command is generated. When the dynamic operating condition index is not lower than the low threshold and is lower than the preset high threshold, a collaborative compensation mode instruction is generated. When the dynamic operating condition index is not lower than the high threshold, a highly robust mode instruction is generated.

2. The gravimeter calibration error compensation system according to claim 1, characterized in that, The quantum state pre-compensation module is specifically used to: obtain the current value and rate of change of external environmental parameters; and, in combination with the current value and rate of change, calculate the pre-compensation control parameter vector based on the preset reference environmental parameters and the pre-compensation response matrix.

3. The gravimeter calibration error compensation system according to claim 2, characterized in that, The pre-compensation control parameter vector includes adjustments to the laser frequency and the bias magnetic field.

4. The gravimeter calibration error compensation system according to claim 1, characterized in that, The strain-gravity error real-time mapping model is used to calculate the real-time error compensation value based on the linear, quadratic, and cross terms of the strain vector of the internal structure, combined with preset weighting coefficients.

5. The gravimeter calibration error compensation system according to claim 1, characterized in that, The dynamic operating condition index model is used to: determine the normalized fluctuation of external pressure, the normalized fluctuation of external temperature change rate, and the normalized value of compensation load; and to perform a weighted summation of the normalized fluctuation of external pressure, the normalized fluctuation of external temperature change rate, and the normalized value of compensation load to generate the dynamic operating condition index.

6. The gravimeter calibration error compensation system according to claim 5, characterized in that, The normalized value of the compensation load is determined as follows: within a preset time window, the root mean square of the real-time error compensation value is calculated; and the root mean square is divided by the preset target accuracy to obtain the normalized value of the compensation load.

7. The gravimeter calibration error compensation system according to claim 1, characterized in that, The low and high thresholds are determined as follows: In a laboratory environment, the correspondence between instrument performance and dynamic operating condition index under different measurement modes is obtained to form performance curves; the inflection point where the performance of the high-precision mode is inferior to that of the collaborative compensation mode is determined as the low threshold; and the inflection point where the performance of the collaborative compensation mode deteriorates and the performance of the high-robust mode improves is determined as the high threshold.

8. The gravimeter calibration error compensation system according to claim 1, characterized in that, High-precision mode instructions, cooperative compensation mode instructions, and high-robustness mode instructions are used to adjust the interference time of quantum systems.

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