A cross-platform strapdown dynamic gravimeter

Abstract

The present invention relates to a cross-platform strapdown dynamic gravimeter, comprising: a strapdown gravity measurement system (1), an external observation part (2) detachably connected to the gravity measurement system (1), and a monitoring part (3) for collecting and processing measurement data output by the gravity measurement system (1) and the external observation part (2); the gravity measurement system (1) comprises: an outer shell (11), a strapdown inertial navigation system (12) and an electric control system (13); the inertial navigation system (12) is sealed and installed inside the outer shell (11); the electric control system (13) is mounted on the outside of the outer shell (11) and is electrically connected to the inertial navigation system (12). The present invention has the ability of miniaturization and cross-platform application, can be used in aviation, ocean, vehicle and underwater, and can realize dynamic gravity measurement in all-weather complex environments.

Description

Technical Field

[0001] The invention relates to the field of gravity measurement, and in particular to a cross-platform strapdown dynamic gravimeter. Background Art

[0002] The Earth's gravity field is one of the Earth's important basic physical characteristics. By measuring the Earth's gravity field, we can reveal the inherent laws of movement and material distribution of the Earth itself, and explore the mechanism of the generation and development of physical events in the space near the Earth. Therefore, the application of gravity information in resource exploration and military fields is of strategic significance to the national economy and national defense construction.

[0003] At present, the main means of measuring the Earth's gravity field include satellite gravity measurement, sea and air gravity measurement, and ground gravity measurement. After decades of development, satellite gravity measurement has greatly improved the accuracy and resolution of gravity fields covering the entire world, but it is unable to measure high-resolution and high-frequency gravity field data, and the medium- and long-waveband gravity information obtained is difficult to reach the ideal level in terms of nearshore and local refined gravity fields.

[0004] Marine and aerial gravity measurements mainly involve installing gravimeters on ships or aircraft and performing continuous gravity measurements in a moving carrier. Shipborne marine gravity measurements can collect large-scale, high-frequency ocean gravity field information, but the slow sailing speed leads to low efficiency of gravity measurements, and it is difficult to measure tidal flats and shallow sea areas at the junction of land and sea. Aerial gravity measurements have experienced rapid development in recent years. They can quickly and flexibly obtain large-area, high-precision gravity data information in special areas such as deserts, swamps, polar regions, and forests that are rarely visited. It is considered to be one of the effective means of obtaining high-precision, medium- and high-resolution gravity field information.

[0005] Ground vehicle-mounted gravity measurement is to install gravity measurement equipment on a car and conduct gravity measurement tests by moving the test car on the road. It is similar to aviation and marine gravity measurement and belongs to the category of relative gravity measurement on a moving base. The vehicle travels along the road on the surface of the earth. The slower moving speed and flexible gravity measurement implementation method provide a good choice for refining regional gravity field information. The closer the gravity measurement system is to the surface of the earth, the richer the gravity information in different frequency bands will be. Considering that the energy component of the gravity field (especially the shortwave part) gradually increases with decreasing altitude, the signal-to-noise ratio of the gravity signal will be improved in the ground gravity measurement system.

[0006] my country started research on gravity measurement and gravity field construction at a low starting point and at a late stage, and there is a large gap with Western developed countries in theoretical research, instrument development and data processing. Due to my country's vast territory and complex terrain, gravity measurement work across the country is relatively complicated. Not only are there large areas of blank gravity measurement areas, but the construction of regional high-precision gravity fields also faces a severe situation. However, the existing traditional gravimeters cannot adapt to the environment of different measurement areas and are difficult to meet the needs of refined regional gravity field measurements. Summary of the invention

[0007] The purpose of the present invention is to provide a cross-platform strapdown dynamic gravimeter.

[0008] To achieve the above-mentioned invention object, the present invention provides a cross-platform strapdown dynamic gravimeter, comprising: a strapdown gravity measurement system, an external observation part detachably connected to the gravity measurement system, and a monitoring part for collecting and processing the measurement data output by the gravity measurement system and the external observation part;

[0009] The gravity measurement system includes: an outer shell, a strapdown inertial navigation system and an electronic control system;

[0010] The inertial navigation system is sealed and installed inside the outer shell;

[0011] The electric control system is mounted on the outside of the outer shell and is electrically connected to the inertial navigation system.

[0012] According to one aspect of the present invention, the inertial navigation system comprises: a gravity sensor unit and an attitude sensor unit;

[0013] The gravity sensor unit includes: a first base, and three accelerometers;

[0014] The first base has three mutually perpendicular mounting reference surfaces, and the three accelerometers are respectively mounted on the mounting reference surfaces;

[0015] The attitude sensor unit includes: three gyroscopes;

[0016] The three gyroscopes are arranged along three mutually perpendicular directions.

[0017] According to one aspect of the present invention, the accelerometer is a quartz flexible accelerometer, and its static accuracy is better than 0.1mGal;

[0018] The gyroscope is a laser gyroscope, and its zero bias stability is better than 0.005° / h.

[0019] According to one aspect of the present invention, the gravity sensor unit is connected to the lower end of the posture sensor unit through the first base.

[0020] According to one aspect of the present invention, the external observation part includes: at least one functional module;

[0021] If the functional module is one, the functional module is one of a GNSS module, a laser velocimeter module, an underwater Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module;

[0022] If there are multiple functional modules, the multiple functional modules adopt a combination of multiple ones of GNSS modules, laser velocimeter modules, underwater Doppler velocimeter modules, underwater ultra-short baseline positioning modules, and depth meter modules.

[0023] According to one aspect of the present invention, the functional module adopts a GNSS module, and the cross-platform strapdown dynamic gravimeter performs shipborne integrated navigation or aviation integrated navigation with the output results of the gravity measurement system and the GNSS module; or,

[0024] The functional module adopts a combination of a GNSS module and a laser velocimeter module, and the cross-platform strapdown dynamic gravimeter performs vehicle-mounted integrated navigation with the output results of the gravity measurement system, the GNSS module and the laser velocimeter module; or,

[0025] The functional module adopts a combination of an underwater Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module. The cross-platform strapdown dynamic gravimeter performs underwater combined navigation based on the output results of the gravity measurement system, the underwater Doppler velocimeter module, the underwater ultra-short baseline positioning module, and the depth meter module.

[0026] According to one aspect of the present invention, the outer shell comprises: a hollow supporting body with openings at both ends, a first end cover structure sealed at one end of the supporting body, a second end cover structure sealed at the other end of the supporting body, and a shock absorbing seat arranged in the supporting body;

[0027] A main body magnetic shielding layer, a main body heat insulation layer and a main body fixing plate are sequentially arranged on the inner side wall of the supporting body and in a direction away from the supporting body;

[0028] The first end cover structure comprises: a first end cover, a temperature control component in contact with the first end cover and installed on the inner side wall of the first end cover;

[0029] A first heat insulation layer and a first magnetic shielding layer are sequentially arranged on the inner side wall of the first end cover and in a direction away from the first end cover, and the first heat insulation layer is arranged around the temperature control component;

[0030] The first magnetic shielding layer is provided with a ventilation channel penetrating the body thereof;

[0031] The second end cover structure comprises: a second end cover;

[0032] A second magnetic shielding layer, a second heat insulation layer and a second fixing plate are sequentially arranged on the inner side wall of the second end cover and in a direction away from the second end cover;

[0033] The edge of the first magnetic shielding layer is arranged to contact the edge of the main magnetic shielding layer;

[0034] The edge of the second magnetic shielding layer is arranged to contact the edge of the main magnetic shielding layer;

[0035] The edge of the second heat-insulating layer is arranged to abut against the edge of the main heat-insulating layer;

[0036] The shock absorbing seats are regularly arranged on the supporting body, one end of which is fixedly connected to the side wall of the supporting body, and the other end of which is fixedly connected to the strapdown inertial navigation system;

[0037] One end of the shock-absorbing seat connected to the supporting body is embedded in the main body heat insulation layer.

[0038] According to one aspect of the present invention, a mounting groove is provided on the inner side wall of the first end cover;

[0039] The first thermal insulation layer and the temperature control component are arranged in the installation groove, and the edge of the first magnetic shielding layer is fixedly installed to match the edge shape of the installation groove, so as to confine the first thermal insulation layer and the temperature control component in the installation groove;

[0040] The temperature control component comprises: a first temperature control component, a radiator;

[0041] The first temperature control component is connected to the first end cover;

[0042] The radiator is arranged to be in contact with the first temperature control component.

[0043] According to one aspect of the present invention, the first temperature control component is a semiconductor temperature control component, and a plurality of the semiconductor temperature control components are arranged at intervals;

[0044] The first heat insulation layer is disposed around the first temperature control component;

[0045] The radiator is pressed against the first temperature control component, and the edge of the radiator is embedded in the first heat insulation layer;

[0046] The edge of the radiator is fixedly connected to the first end cover via a threaded connector;

[0047] A T-shaped thermal insulation pad is arranged between the connection position of the threaded connector and the first end cover, and the first thermal insulation layer covers the end of the threaded connector.

[0048] According to one aspect of the present invention, the temperature control assembly further comprises: a circulation fan;

[0049] The circulation fan is installed on a side of the first magnetic shielding layer away from the radiator and is arranged opposite to the air permeable channel;

[0050] The first end cap structure further includes: an end cap radiator;

[0051] The end cover radiator comprises: radiator fins and a radiator fan;

[0052] The radiator fins and the radiator fan are arranged side by side on the outer side wall of the first end cover, wherein the radiator fins are welded to the first end cover.

[0053] According to one solution of the present invention, the present invention has the capability of miniaturization and cross-platform application, can be used in aviation, ocean, vehicle and underwater, and can realize dynamic gravity measurement in complex environments around the clock.

[0054] According to one solution of the present invention, the present invention adopts a multi-sensor hard synchronous data recording data acquisition and monitoring system with high integration, and retains the original measurement data while outputting the gravity results, which is convenient for subsequent calculations.

[0055] According to one solution of the present invention, the present invention designs a temperature control, shock absorption and airtightness system in the mechanical structure according to the needs of its application environment, thereby improving the environmental adaptability of the present invention.

[0056] According to one solution of the present invention, the system structure of the present invention is modularly designed, and various sensors can be combined according to specific needs. In addition, the present invention can also adaptively adjust the filter algorithm parameters according to different measurement environments and different functional modules to achieve high-precision combined navigation.

[0057] According to one solution of the present invention, the present invention realizes the integrated design of the gravity sensor unit and the attitude sensor unit, making the structure more compact and reducing the overall volume and weight, which not only reduces the overall processing cost of the system, but also helps to improve the stability of the system structural parameters.

[0058] According to one solution of the present invention, the gravity measurement system of the present invention achieves a temperature control accuracy of more than ±0.02° C., which greatly ensures the stability of the operating environment of the gravity measurement system and the system operating accuracy.

[0059] According to a solution of the present invention, compared with the traditional gravimeter, the present invention fully realizes cross-platform global measurement, and the measurement accuracy also reaches the international advanced level. In addition, the present invention can retain the original measurement results during the measurement process, and realize subsequent data mining.

[0060] According to a solution of the present invention, the present invention has the capability of synchronously processing and recording multi-sensor data and fusing multiple data, thereby improving environmental adaptability and ensuring measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a block diagram schematically showing a cross-platform strapdown dynamic gravimeter according to an embodiment of the present invention;

[0062] Figure 2 is a perspective view schematically showing a cross-platform strapdown dynamic gravimeter according to an embodiment of the present invention;

[0063] Figure 3 is a structural diagram schematically showing a cross-platform strapdown dynamic gravimeter strapdown inertial navigation system according to an embodiment of the present invention;

[0064] Figure 4 is a cross-sectional view schematically showing a cross-platform strapdown dynamic gravimeter according to an embodiment of the present invention;

[0065] Figure 5 is a structural diagram schematically showing a radiator according to an embodiment of the present invention;

[0066] Figure 6 is a structural diagram schematically showing a first end cover structure according to an embodiment of the present invention;

[0067] Figure 7 is a structural diagram schematically showing a shock-absorbing seat according to an embodiment of the present invention;

[0068] Figure 8 It is a schematic representation Figure 4 A magnified view of position A in the middle;

[0069] Fig. 9 Schematically shows the working flow of a cross-platform strapdown dynamic gravimeter according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0071] When describing the embodiments of the present invention, the orientation or positional relationship expressed by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the relevant drawings and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0072] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments cannot be described one by one here, but the embodiments of the present invention are not therefore limited to the following embodiments.

[0073] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, a cross-platform strapdown dynamic gravimeter of the present invention can be used in different fields such as aviation, ocean, vehicle-mounted, underwater, etc., and realizes dynamic gravity measurement and navigation in all-weather complex environments. Specifically, it includes: a strapdown gravity measurement system 1, an external observation part 2 detachably connected to the gravity measurement system 1, and a monitoring part 3 for collecting and processing the measurement data output by the gravity measurement system 1 and the external observation part 2. In this embodiment, the gravity measurement system 1 includes: an outer shell 11, a strapdown inertial navigation system 12 and an electronic control system 13; wherein the inertial navigation system 12 is sealed and installed inside the outer shell 11; the electronic control system 13 is mounted on the outside of the outer shell 11 and is electrically connected to the inertial navigation system 12.

[0074] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to one embodiment of the present invention, the inertial navigation system 12 includes: a gravity sensor unit 121 and a posture sensor unit 122. The gravity sensor unit 121 includes: a first base 121a, and three accelerometers 121b; in this embodiment, the first base 121a has three mutually perpendicular mounting reference surfaces, and the three accelerometers 121b are respectively mounted on the mounting reference surfaces; the first base 121a includes: a plate-shaped support portion and a support boss arranged on the support portion. The above three mounting reference surfaces are located on the support boss, so as to realize the fixation of the accelerometer 121b on the mounting reference surface.

[0075] In this embodiment, the attitude sensor unit 122 includes: three gyroscopes 122a; wherein the three gyroscopes 122a are arranged along three mutually perpendicular directions (i.e., according to the predefined XYZ three-dimensional coordinate axis directions). In this embodiment, the three gyroscopes 122a are connected to the side walls of a rectangular structure, and connecting supports are respectively installed at the vertices of the rectangular structure to achieve a fixed connection between the attitude sensor unit 122 and the outer shell 11. In this embodiment, the rectangular body used to install the three gyroscopes 122a is a pre-set hollow rectangular body mounting base, and three side surfaces thereof are selected for installing the gyroscopes 122a, thereby facilitating the stability of the structure of the attitude sensor unit 122, as well as facilitating the connection with the first base 121a and the internal space for the arrangement of the accelerometer 121b. In this embodiment, the gyroscope 122a adopts a machine-shaking laser gyroscope.

[0076] According to one embodiment of the present invention, the accelerometer 121b is a quartz flexible accelerometer, and its static accuracy is better than 0.1mGal; the gyroscope 122a is a laser gyroscope, and its zero bias stability is better than 0.005° / h.

[0077] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to an embodiment of the present invention, the gravity sensor unit 121 is connected to the lower end of the attitude sensor unit 122 through the first base 121a. In this embodiment, as mentioned above, when the attitude sensor unit 122 is connected to each other through three gyroscopes 122a to form a rectangular structure, a hollow accommodation space may be provided inside the attitude sensor unit 122, so that the gravity sensor unit 121 can be conveniently installed in the accommodation space to improve the utilization of the space and make the structure more compact; specifically, the support boss on which the accelerometer 121b is installed on the first base 121a extends into the accommodation space, and the fixation with the lower end of the attitude sensor unit 122 is achieved through the plate-shaped support portion (for example, screw connection).

[0078] like Figure 1 As shown, according to one embodiment of the present invention, the external observation part 2 includes: at least one functional module; if the functional module is one, the functional module is one of a GNSS module, a laser velocimeter module, an underwater Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module; if the functional modules are multiple, the multiple functional modules adopt a combination of multiple GNSS modules, laser velocimeter modules, underwater Doppler velocimeter modules, underwater ultra-short baseline positioning modules, and depth meter modules.

[0079] like Figure 1 As shown, according to one embodiment of the present invention, the functional module adopts a GNSS module, and the cross-platform strapdown dynamic gravimeter performs shipborne integrated navigation or aviation integrated navigation with the output results of the gravity measurement system 1 and the GNSS module; or,

[0080] The functional module adopts a combination of a GNSS module and a laser velocimeter module, and the cross-platform strapdown dynamic gravimeter performs vehicle-mounted integrated navigation with the output results of the gravity measurement system 1, the GNSS module and the laser velocimeter module; or,

[0081] The functional module adopts a combination of an underwater Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module. The cross-platform strapdown dynamic gravimeter performs underwater combined navigation based on the output results of the gravity measurement system 1, the underwater Doppler velocimeter module, the underwater ultra-short baseline positioning module, and the depth meter module.

[0082] It should be noted that integrated navigation is to provide accurate position information and original gravity information, among which the gravity measurement results are derived from high-precision navigation, and need to be solved by gravity anomaly, and then low-pass filtered to obtain the final gravity measurement results. Therefore, the gravity anomaly value of the exact position (survey line) obtained through the gravity settlement result of the gravity measurement system 1 can be fed back to the result of the integrated navigation to achieve the integrated navigation effect.

[0083] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to an embodiment of the present invention, the outer shell 11 includes: a support body 111 with openings at both ends and hollow, a first end cover structure 112 with an opening and sealing connection at one end of the support body 111, a second end cover structure 113 with an opening and sealing connection at the other end of the support body 111, and a shock-absorbing seat 114 arranged in the support body 111. In this embodiment, a closed heat-insulating space is formed by mutually sealingly connecting the support body 111, the first end cover structure 112 and the second end cover structure 113 (for example, a sealing ring is arranged at the mutually connected position), and the space also has the performance of temperature regulation and electromagnetic shielding. Specifically, in this embodiment, the support body 111 of the present invention adopts a rectangular frame with openings at both ends, and a main magnetic shielding layer 111a, a main heat-insulating layer 111b and a main fixing plate 111c are arranged in sequence on the inner side wall of the support body 111 and in the direction away from the support body 111. Among them, the main magnetic shielding layer 111a is connected to the inner wall of the supporting body 111 by bonding, and then the main thermal insulation layer 111b is installed on the main body fixing plate 111c by bonding, and the main body fixing plate 111c is fixed to the supporting body 111 by nylon screws. Through the above-mentioned settings, the shielding and thermal insulation treatment of the supporting body 111 is realized.

[0084] In this embodiment, in order to realize the heat insulation and shielding of the present invention, a corresponding structure is also required to be provided in the first end cover structure 112, and a temperature control component is also required to be provided on the first end cover structure 112 to realize accurate control of the temperature inside the entire shell. Specifically, in this embodiment, the first end cover structure 112 includes: a first end cover 1121, and a temperature control component 1122 installed on the inner side wall of the first end cover 1121 in contact with the first end cover 1121; in addition, a first heat insulation layer 112a and a first magnetic shielding layer 112b are sequentially provided on the inner side wall of the first end cover 1121 and in a direction away from the first end cover 1121, and the first heat insulation layer 112a is arranged around the temperature control component 1122. In this embodiment, a ventilation channel is provided on the first magnetic shielding layer 112b that runs through its body; through the ventilation channel provided on the first magnetic shielding layer 112b, the exchange of airflows on both sides of the first magnetic shielding layer 112b can be directly realized, thereby realizing the purpose of accurately controlling the temperature of the internal environment of the shell.

[0085] In this embodiment, the second end cover structure 113 includes: a second end cover 1131; wherein a second magnetic shielding layer 113a, a second heat insulation layer 113b, and a second fixing plate 113c are sequentially arranged on the inner side wall of the second end cover 1131 and in a direction away from the second end cover 1131. In this embodiment, the second magnetic shielding layer 113a is connected to the inner side wall of the second end cover 1131 by bonding, and then the second heat insulation layer 113b is installed on the second fixing plate 113c by bonding, and the second fixing plate 113c is fixed to the second end cover 1131 by nylon screws, and then the shielding and heat insulation treatment of the second end cover structure 113 is achieved through the above arrangement.

[0086] In this embodiment, the first end cover 1121 and the second end cover 1131 are sealedly connected to the opposite ends of the supporting body 111 using threaded connectors, wherein sealing rings are respectively provided at the positions where the first end cover 1121 and the second end cover 1131 contact the supporting body 111 to ensure the airtightness of the docking position, and sealing members are also provided at the positions where the threaded connector contacts the first end cover 121 and the second end cover 1131 to ensure the sealing at the connection position.

[0087] In this embodiment, the edge of the first magnetic shielding layer 112b is in contact with the edge of the main magnetic shielding layer 111a; the edge of the second magnetic shielding layer 113a is in contact with the edge of the main magnetic shielding layer 111a; through the mutual connection between the shielding layers, a full enclosure setting of the shielding structure is achieved, which is beneficial to effectively ensure the shielding performance of the present invention.

[0088] In this embodiment, the edge of the second heat insulating layer 113b is arranged to abut against the edge of the main heat insulating layer 111b. The above arrangement realizes the surrounding arrangement of the heat insulating layer, thus ensuring the excellent heat insulating performance of the present invention.

[0089] In this embodiment, a plurality of shock-absorbing seats 114 are regularly arranged on the supporting body 111, one end of which is fixedly connected to the side wall of the supporting body 111, and the other end is fixedly connected to the strapdown inertial navigation system 12; the end of the shock-absorbing seat 114 connected to the supporting body 111 is embedded in the main body insulation layer 111b.

[0090] Combination Figure 4 , Figure 5 and Figure 6As shown, according to one embodiment of the present invention, a mounting groove 1121a is provided on the inner side wall of the first end cover 1121. In this embodiment, the first end cover 1121 includes: a connecting ring edge for connecting with the supporting body 111, and a side wall portion connected to the connecting ring edge; wherein the edge of the side wall portion is fixedly connected to the inner ring edge of the connecting ring edge to form the mounting groove 121a. In this embodiment, a part of the side wall portion is convexly arranged in a direction away from the supporting body 111, so that the depth of the mounting groove 121a is greater, so as to realize the embedded installation of the temperature control component 1122 and the first thermal insulation layer 112a.

[0091] In this embodiment, the first thermal insulation layer 112a and the temperature control component 1122 are arranged in the installation groove 1121a, and the edge of the first magnetic shielding layer 112b is fixedly installed to match the edge shape of the installation groove 1121a, so as to confine the first thermal insulation layer 112a and the temperature control component 1122 in the installation groove 1121a. Through the above arrangement, the embedded installation of the first thermal insulation layer 112a, the temperature control component 1122, and the first magnetic shielding layer 112b on the first end cover 1121 is effectively guaranteed, the integration of the first end cover structure 112 is improved, and the protruding structure on the inner side thereof is effectively eliminated, making it more convenient and quick to install with the supporting body 111, and at the same time, it also effectively avoids interference and occupation of the internal structure, and ensures that the shell has sufficient internal space.

[0092] Combination Figure 4 , Figure 5 and Figure 6As shown, according to an embodiment of the present invention, the temperature control component 1122 includes: a first temperature control component 11221, and a heat sink 11222. In this embodiment, the first temperature control component 11221 is connected to the first end cover 1121; the heat sink 11222 is set to contact the first temperature control component 11221. In this embodiment, the first temperature control component 11221 adopts a semiconductor temperature control component (such as a TEC semiconductor), and multiple components are arranged at intervals; the first heat insulation layer 112a is arranged around the first temperature control component 11221. Among them, multiple first temperature control components 11221 are installed by attaching to the inner side of the first end cover 1121 after uniformly coating the surface with thermal conductive silicone grease, so that the heat generated thereon can be dissipated to the first end cover 1121 more quickly. After the first temperature control component 11221 is installed, the first thermal insulation layer 112a is installed around the first temperature control component 11221, wherein the first thermal insulation layer 112a is filled with shapes matching between adjacent first temperature control components 11221 and on the connecting ring edges between the first temperature control component 11221 and the first end cover 1121, so as to achieve heat insulation treatment of the surrounding area of ​​the first end cover 1121 where the first temperature control component 11221 is not installed, thereby ensuring the sufficient heat dissipation of the first temperature control component 11221 and maximally ensuring the thermal insulation effect of the first end cover structure 112.

[0093] In this embodiment, the heat sink 11222 is pressed against the first temperature control component 11221, and the edge of the heat sink 11222 is embedded in the first insulation layer 112a; Figure 2 and Figure 3 As shown, the heat sink 11222 includes: a temperature control plate 11222b and a temperature control fin 11222c installed on one side of the temperature control plate 11222b. In this embodiment, a thermal conductive silicone grease layer is evenly coated on the side of the temperature control plate 11222b away from the temperature control fin 11222c corresponding to the position of the first temperature control component 11221, and then the temperature control plate 11222b can be directly attached to the side of the first temperature control component 11221 to achieve a good heat transfer effect. In this embodiment, since the temperature control plate 11222b is directly attached to the surface of the first temperature control component 11221, and therefore, the portion of the first insulation layer 112a between the first temperature control components 11221 also abuts against the temperature control plate 11222b at the same time, isolation of adjacent first temperature control components 11221 is achieved to ensure sufficient sealing of the first temperature control components 11221, eliminating the possible air gap between the first temperature control component 11221 and the temperature control plate 11222b, which is beneficial to improving the thermal conductivity of the radiator 11222, thereby more effectively ensuring the temperature control performance and temperature control efficiency of the first temperature control component 11221.

[0094] In this embodiment, the temperature control fin 11222c and the temperature control plate 11222b are directly welded and connected using low-temperature solder paste to ensure that the temperature control fin 11222c can transfer the temperature on the temperature control plate 11222b more quickly, so as to achieve timely and accurate control of the ambient temperature inside the shell.

[0095] In this embodiment, the temperature control fins 11222c are copper fins, which have higher heat exchange efficiency, stronger welding and better structural stability.

[0096] In this embodiment, the edge of the radiator 11222 is fixedly connected to the first end cover 1121 via a threaded connector; wherein a T-shaped thermal insulation pad 11222a is provided between the connection position of the threaded connector and the first end cover 1121, and when the edge of the radiator 11222 is embedded in the first thermal insulation layer 112a to achieve thermal insulation coverage, the first thermal insulation layer 112a correspondingly covers the end of the threaded connector.

[0097] Through the above arrangement, the thermal insulation effect of the first end cover assembly of the present invention is effectively guaranteed, the sealing performance of the edge of the temperature control unit is guaranteed, the thermal insulation performance of the first end cover assembly is greatly improved, and at the same time it is beneficial to ensure the temperature control accuracy of the temperature control assembly.

[0098] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to an embodiment of the present invention, the temperature control component 1122 further includes: a circulation fan 11223; in this embodiment, the circulation fan 11223 is installed on a side of the first magnetic shielding layer 112b away from the radiator 11222, and is arranged opposite to the air permeable channel;

[0099] In this embodiment, the first magnetic shielding layer 112b has a plate-like structure with high structural strength. When it is installed on the outside of the first thermal insulation layer 112a, it can form a larger cavity with the first end cover 1121 for installing the first thermal insulation layer 112a and the first temperature control component 11221. In addition, there is extra space between the opposite sides of the radiator 11222 (such as the upper and lower sides in the vertical direction in the figure) for realizing the flow of airflow. Through the action of the circulating fan 11223, the airflow can be transported to the interior of the shell after the flow and heat exchange on the opposite sides of the radiator 11222, thereby achieving an excellent heat exchange effect, which is beneficial to ensuring the flow of airflow and constant temperature control inside the shell.

[0100] In this embodiment, the end of the temperature control fin 11222c on the radiator 11222 away from the temperature control plate 11222b can be in contact with the first magnetic shielding layer 112b. Through the above arrangement, the heat exchange between the radiator 11222 and the first magnetic shielding layer 112b can be directly realized, and then the heat exchange structure in the shell can be realized through the second magnetic shielding layer. Due to the large area of ​​the second magnetic shielding layer, its heat exchange efficiency is higher, which is more beneficial to improving the regulation efficiency of the temperature control unit of the present invention.

[0101] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to an embodiment of the present invention, the first end cover structure 112 further includes: an end cover radiator 1123; in this embodiment, the end cover radiator 1123 includes: a radiator fin 1123a and a radiator fan 1123b; in this embodiment, the radiator fin 1123a and the radiator fan 1123b are arranged side by side on the outer wall of the first end cover 1121, wherein the radiator fin 1123a is welded to the first end cover 1121. In this embodiment, at least part of the outer wall of the first end cover 1121 is provided with a nickel metal plating layer, and the radiator fin 1123a can be welded to the outer wall of the first end cover 1121 by low-temperature solder paste. In this embodiment, the heat dissipation fin is a copper fin.

[0102] Combination Figure 4 , Figure 5 and Figure 6 As shown, according to an embodiment of the present invention, along the circumference of the first end cover 1121, a support panel is wrapped around the radiator fin 1123a, and the support panel is connected to the outer wall of the first end cover 1121 through a threaded connector. In this embodiment, the support panel is spaced apart from the radiator fin to form an installation cavity, and the radiator fan 1123b can be fixedly installed with the support panel in the installation cavity. In this embodiment, the air supply direction of the radiator fan 1123b is consistent with the length direction of the radiator fin 1123a, so that the air supplied by the radiator fan 1123b can flow from the spaced position of the adjacent radiator fins 1123a to take away the heat on the radiator fins 1123a, so that the heat dissipation effect is better.

[0103] like Figure 4 As shown, according to one embodiment of the present invention, the first heat insulation layer 112a is foamed by a polyurethane foaming agent. By using the foamed first heat insulation layer 112a, it can be more closely matched with the first end cover 1121, effectively ensuring the heat insulation performance of the present invention and the sealing performance around the temperature control component.

[0104] Combination Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, according to one embodiment of the present invention, the shock absorbing seat 114 includes: a base portion 1141, a shock absorbing main body portion 1142 connected to the base portion 1141, and a connecting seat portion 1143 connected to the shock absorbing main body portion 1142; wherein the base portion 1141, the shock absorbing main body portion 1142 and the connecting seat portion 1143 are coaxially connected.

[0105] In this embodiment, the base part 1141, the shock absorbing main body part 1142 and the connecting seat part 1143 are connected in sequence by interlocking. The base part 1141 is a hollow plate-like body as a whole, and a protruding annular boss is provided on one side thereof, while the shock absorbing main body part 1142 is a hollow cylindrical body with one end radially reduced, and its large diameter end is connected to the base part 1141 by interlocking. Specifically, an annular groove is provided at the bottom of the large diameter end of the shock absorbing main body part 1142, so that the annular boss on the base part 1141 can be inserted to realize the coaxial interlocking connection between the base part 1141 and the shock absorbing main body part 1142. In this embodiment, the heights of the two side walls of the annular groove at the large diameter end of the shock absorbing main body part 1142 are different, wherein the height of the radially inner side wall is higher than the height of the radially outer side wall, so that when the shock absorbing main body part 1142 is coaxially engaged with the base part 1141, the height of the radially inner side wall of the annular groove is higher, and thus the insertion depth thereof can be significantly higher than the height of the other side wall. By setting the two opposite side walls of the annular groove to different heights, the shock absorbing main body part 1142 can be accurately positioned by the higher annular side wall, thus ensuring the structural strength and structural stability of the connection position, and ensuring the connection accuracy of the connection position, thereby greatly improving the reliability of the shock absorbing seat 114.

[0106] In this embodiment, the connection seat portion 1143 is located at the small diameter end of the shock absorbing main body portion 1142. The connection seat portion 1143 includes: a connection seat body, and a connection boss coaxially connected at one end of the connection seat body; wherein the diameter of the connection boss is smaller than the diameter of the connection seat body, and the edge of the connection boss away from the connection seat body radially protrudes to form a continuous annular protrusion. Furthermore, through the above-mentioned setting of the connection boss, an annular interlocking groove is formed between the connection boss and the connection seat body, and then the interlocking connection between the connection seat portion 1143 and the shock absorbing main body portion 1142 can be achieved by setting an interlocking boss matched with the above-mentioned interlocking groove on the inner side of the small diameter end of the shock absorbing main body portion 1142.

[0107] Through the above arrangement, the installation accuracy and installation stability of the connecting seat part 1143 and the shock absorbing main body part 1142 are effectively guaranteed, and thus the connecting seat part 1143 can be more reliably connected with other structures.

[0108] In this embodiment, a channel is provided in the middle of the connecting seat portion 1143 that runs through the main body thereof, for allowing a connecting member (such as a bolt) to pass through and connect to a connecting support in the attitude sensor unit 122 that is connected to the gyroscope 122a, thereby achieving a shock-absorbing connection between the inertial navigation system 12 and the supporting body 111.

[0109] Combination Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, according to one embodiment of the present invention, a limiting groove matching the shape of the base portion 1141 is provided on the main insulation layer 111b, and the base portion 1141 is connected to the supporting body 111 by a first threaded connector. In this embodiment, along the vertical direction, the shock-absorbing seat 114 is respectively arranged on the upper and lower sides of the supporting body 111, so as to achieve stable installation with the inertial navigation system 12 on the upper and lower sides. Specifically, four shock-absorbing seats 114 are respectively arranged on the upper and lower sides of the inertial navigation system 12. In this embodiment, since the base portion 1141 is used to play a supporting role, it needs to be connected to a hard structure, and then, it can be directly supported on the main magnetic shielding layer 111a of the inner wall of the supporting body 111, so as to achieve a stable connection with the supporting body 111 without destroying the overall shielding performance.

[0110] In this embodiment, the base part 1141 is a diamond-shaped structure, and a limiting groove matching the appearance of the base part 1141 is correspondingly provided at the position for installing the base part 1141 on the main body heat insulation layer 111b. In this embodiment, after the base part 1141 is installed in the limiting groove, it is fixedly connected to the supporting body 111 by a first threaded connector. Specifically, along the thickness direction of the side wall of the supporting body 111, the first threaded connector passes through the side wall of the supporting body 111 from the outside to the inside and is connected to the base part 1141. In this embodiment, a connection hole for the first threaded connector to pass through is provided on the outer wall of the supporting body 111, and the first threaded connector is connected to the base part 1141 through the connection hole, and in order to ensure the sealing inside the supporting body 111, a sealing member (such as a sealing ring) is also provided between the first threaded connector and the position where the supporting body 111 rests, so as to achieve sealing at the installation position, which is beneficial to ensuring the sealing inside the present invention.

[0111] Combination Figure 3 , Figure 4 , Figure 7and Figure 8 As shown, according to one embodiment of the present invention, a heat insulating cover pad 111b1 is further provided at a position corresponding to the shock absorbing seat 114 on the main heat insulating layer 111b. In this embodiment, the middle position of the heat insulating cover pad 111b1 is coaxially nested with the shock absorbing main body part 1142, and its edge position is fixedly connected to the main heat insulating layer 111b to close the base part 1141. In this embodiment, the material of the heat insulating cover pad 111b1 is consistent with that of the main heat insulating layer 111b. In another embodiment, if there is also a main body fixing plate 111c around the main body heat insulating layer 111b embedded in the base part 1141, the base part 1141 can be closed by fixing the edge position of the heat insulating cover pad 111b1 to the main body fixing plate 111c.

[0112] like Figure 2 As shown, according to one embodiment of the present invention, a mounting boss 1111 is further provided on the outer side wall of the supporting body 111, so that the entire shell structure can realize the function of hexahedron calibration, so that the gravimeter using the present invention can realize on-site calibration, saving equipment preparation time and improving environmental adaptability.

[0113] like Figure 1 As shown, according to one embodiment of the present invention, the cross-platform strapdown dynamic gravimeter of the present invention can collect the output results of the gravity measurement system 1 and the external observation part 2 through the monitoring part 3 and obtain the final gravity measurement result after data processing. Specifically, the outer shell 11 of the gravity measurement system 1 on the cross-platform strapdown dynamic gravimeter is connected to the dynamic carrier by bolts or slide rails, wherein the external observation part 2 is combined according to different measurement environments and the working state of the functional modules, and the output measurement result is received by the monitoring part 3 as the external observation value and the settlement result of the strapdown inertial navigation system 12 inside the gravity measurement system 1 and fused by a multi-sensor information fusion method. After the navigation result is obtained, the gravity anomaly is solved and filtered, and finally the gravity measurement result is obtained.

[0114] In order to further illustrate the functional effects of the present invention, the working process of the present invention on different carriers is further described in detail.

[0115] like Fig. 9 As shown, according to an embodiment of the present invention, the cross-platform strapdown dynamic gravimeter of the present invention performs shipborne integrated navigation based on the following steps, wherein the functional module in the external observation part 2 uses a GNSS module to implement measurement assistance, specifically including:

[0116] S11. The strapdown gravity measurement system 1 is aligned and initialized when the ship is moored;

[0117] S12. The inertial navigation system 12 in the gravity measurement system 1 performs pure inertial navigation solution and outputs the solution result;

[0118] S13. Obtaining external observation values ​​of the strapdown gravity measurement system 1 based on the GNSS module and using a precise point positioning method (PPP method); wherein the external observation values ​​include: the position and velocity of the gravity measurement system 1;

[0119] S14. The monitoring part 3 receives the solution result and the external observation value, and constructs a Kalman filter to perform error estimation by combining the error equation of the gravity measurement system 1 as the state equation;

[0120] S15. The monitoring part 3 feeds back the error estimate obtained based on the Kalman filter to the inertial navigation system 12 for correction to obtain high-precision attitude, speed, and position information;

[0121] S16. Extract the original gravity anomaly based on the acquired attitude, speed, and position information, perform low-pass filtering on the extracted original gravity anomaly, and perform accuracy evaluation to obtain the precise gravity anomaly.

[0122] like Fig. 9 As shown, according to an embodiment of the present invention, the cross-platform strapdown dynamic gravimeter of the present invention performs aviation integrated navigation based on the following steps, wherein the functional module in the external observation part 2 uses a GNSS module to implement measurement assistance, specifically including:

[0123] S11. The strapdown gravity measurement system 1 is statically calibrated at the airport and the initial attitude angle is determined by a static base alignment method;

[0124] S12. The inertial navigation system 12 in the gravity measurement system 1 performs pure inertial navigation solution and outputs the solution result;

[0125] S13. Obtaining external observations of the strapdown gravity measurement system 1 based on the GNSS module and using a DGNSS differential positioning method; wherein the external observations include: the position and velocity of the gravity measurement system 1;

[0126] S14. The monitoring part 3 receives the solution result and the external observation value, and constructs a Kalman filter for error estimation by combining the error equation of the strapdown gravity measurement system 1 as the state equation;

[0127] S15. The monitoring part 3 feeds back the error estimation value obtained based on the Kalman filter to the inertial navigation system 12 for correction to obtain high-precision attitude, speed, and position information.

[0128] S16. Extract the original gravity anomaly based on the acquired attitude, speed, and position information, perform low-pass filtering on the extracted original gravity anomaly, and perform accuracy evaluation to obtain the precise gravity anomaly.

[0129] like Fig. 9 As shown, according to an embodiment of the present invention, the cross-platform strapdown dynamic gravimeter of the present invention performs vehicle-mounted integrated navigation based on the following steps, wherein the functional module in the external observation part 2 uses a GNSS module and a laser velocimeter module to implement measurement assistance, specifically including:

[0130] S11. The strapdown gravity measurement system 1 is statically corrected in the vehicle environment and the position information of the strapdown gravity measurement system 1 is obtained by using DGNSS differential positioning to align the static base;

[0131] S12. The inertial navigation system 12 in the gravity measurement system 1 performs pure inertial navigation solution and outputs the solution result;

[0132] S13. Obtaining a first external observation value of the strapdown gravity measurement system 1 based on the GNSS module and using a DGNSS differential positioning method, and obtaining a second external observation value based on the laser velocimeter module; wherein the first external observation value includes: a position and a first speed of the strapdown gravity measurement system 1, and the second external observation value includes: a second speed of the strapdown gravity measurement system 1;

[0133] S14. The monitoring part 3 receives the solution result, the first external observation value and the second external observation value to perform multi-source data fusion to obtain high-precision attitude, speed and position information.

[0134] S15. Extract the original gravity anomaly based on the acquired attitude, speed, and position information, perform low-pass filtering on the extracted original gravity anomaly, and perform accuracy evaluation to obtain the precise gravity anomaly.

[0135] like Fig. 9 As shown, according to an embodiment of the present invention, the cross-platform strapdown dynamic gravimeter of the present invention performs underwater integrated navigation based on the following steps, wherein the functional module in the external observation part 2 adopts a combination of a Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module to achieve measurement assistance, specifically including:

[0136] S11. The strapdown gravity measurement system 1 uses an underwater Doppler velocimeter module (DVL) and an underwater ultra-short baseline positioning module (USBL) in an underwater environment to assist in aligning the dynamic base and determining initial information;

[0137] S12. The inertial navigation system 12 in the gravity measurement system 1 performs pure inertial navigation solution and outputs the solution result;

[0138] S13. horizontal position information obtained by an underwater ultra-short baseline positioning module (USBL), velocity information obtained by an underwater Doppler velocimeter module (DVL), and depth information obtained by a depth gauge module (DJ) as external observation values;

[0139] S14. The monitoring part 3 receives the solution results and external observations to perform multi-source data fusion, and uses the Kalman filter method to estimate and compensate for the error of the inertial navigation system 12 to obtain high-precision attitude, speed, and position information;

[0140] S15. Extract the original gravity anomaly based on the acquired attitude, speed, and position information, perform low-pass filtering on the extracted original gravity anomaly, and perform accuracy evaluation to obtain the precise gravity anomaly.

[0141] According to one embodiment of the present invention, the monitoring part 3 extracts the original gravity anomaly according to the following formula:

[0142]

[0143] In the formula, is the vertical component of the disturbed gravity vector; is the height / depth of the carrier (positive is upward); is the Earth's rotation angular rate; is the geographical latitude; , They are the east and north speeds of the carrier relative to the earth respectively; and are the radii of the meridian and meridian of the earth ellipsoid respectively; is the acceleration of celestial motion; Normal gravity value.

[0144] In this embodiment, the original gravity anomaly contains a large amount of high-frequency noise, and the effective signal is concentrated in the low-frequency band. A low-pass filtering method is required to remove the noise and obtain effective gravity measurement results; the accuracy assessment is divided into internal compliance accuracy assessment and external compliance accuracy assessment.

[0145] The above contents are merely examples of specific solutions of the present invention. For devices and structures not described in detail therein, it should be understood that they can be implemented by adopting general devices and general methods available in the art.

[0146] The above is only one solution of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cross-platform strapdown dynamic gravimeter, characterized in that: include: A strapdown gravity measurement system (1), an external observation part (2) detachably connected to the gravity measurement system (1), and a monitoring part (3) for collecting and processing measurement data output by the gravity measurement system (1) and the external observation part (2); The gravity measurement system (1) comprises: an outer shell (11), a strapdown inertial navigation system (12) and an electronic control system (13); The inertial navigation system (12) is sealed and installed inside the outer shell (11); The electric control system (13) is mounted on the outside of the outer shell (11) and is electrically connected to the inertial navigation system (12); The inertial navigation system (12) comprises: a gravity sensor unit (121) and a posture sensor unit (122); The gravity sensor unit (121) comprises: a first base (121a), and three accelerometers (121b); The first base (121a) has three mutually perpendicular mounting reference surfaces, and the three accelerometers (121b) are respectively mounted on the mounting reference surfaces; The attitude sensor unit (122) comprises: three gyroscopes (122a); The three gyroscopes (122a) are arranged along three mutually perpendicular directions; The outer shell (11) comprises: a hollow supporting body (111) with openings at both ends, a first end cover structure (112) sealed and connected to an opening at one end of the supporting body (111), a second end cover structure (113) sealed and connected to an opening at the other end of the supporting body (111), and a shock absorbing seat (114) arranged in the supporting body (111); A main body magnetic shielding layer (111a), a main body heat insulation layer (111b) and a main body fixing plate (111c) are sequentially arranged on the inner side wall of the supporting main body (111) and in a direction away from the supporting main body (111); The first end cover structure (112) comprises: a first end cover (1121), and a temperature control component (1122) which is in contact with the first end cover (1121) and is installed on the inner side wall of the first end cover (1121); A first heat insulation layer (112a) and a first magnetic shielding layer (112b) are sequentially arranged on the inner side wall of the first end cover (1121) and in a direction away from the first end cover (1121), and the first heat insulation layer (112a) is arranged around the temperature control component (1122); The first magnetic shielding layer (112b) is provided with a ventilation channel penetrating the body thereof; The second end cover structure (113) comprises: a second end cover (1131); A second magnetic shielding layer (113a), a second heat insulation layer (113b) and a second fixing plate (113c) are sequentially arranged on the inner side wall of the second end cover (1131) and in a direction away from the second end cover (1131); The edge of the first magnetic shielding layer (112b) is arranged to be in contact with the edge of the main magnetic shielding layer (111a); The edge of the second magnetic shielding layer (113a) is arranged to be in contact with the edge of the main magnetic shielding layer (111a); The edge of the second heat-insulating layer (113b) and the edge of the main heat-insulating layer (111b) are arranged to abut against each other; A plurality of the shock absorbing seats (114) are regularly arranged on the supporting body (111), one end of each of which is fixedly connected to the side wall of the supporting body (111), and the other end of each of which is fixedly connected to the strapdown inertial navigation system (12); One end of the shock-absorbing seat (114) connected to the supporting body (111) is embedded in the main body heat insulation layer (111b).

2. The cross-platform strapdown dynamic gravimeter according to claim 1, characterized in that: The accelerometer (121b) is a quartz flexible accelerometer, and its static accuracy is better than 0.1 mGal; The gyroscope (122a) is a laser gyroscope, and its zero bias stability is better than 0.005° / h.

3. The cross-platform strapdown dynamic gravimeter according to claim 2, characterized in that: The gravity sensor unit (121) is connected to the lower end of the posture sensor unit (122) via the first base (121a).

4. The cross-platform strapdown dynamic gravimeter according to claim 3, characterized in that: The external observation part (2) comprises: at least one functional module; If the functional module is one, the functional module is one of a GNSS module, a laser velocimeter module, an underwater Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module; If there are multiple functional modules, the multiple functional modules adopt a combination of multiple ones of GNSS modules, laser velocimeter modules, underwater Doppler velocimeter modules, underwater ultra-short baseline positioning modules, and depth meter modules.

5. The cross-platform strapdown dynamic gravimeter according to claim 4, characterized in that: The functional module adopts a GNSS module, and the cross-platform strapdown dynamic gravimeter performs shipborne integrated navigation or aviation integrated navigation using the output results of the gravity measurement system (1) and the GNSS module; or, The functional module adopts a combination of a GNSS module and a laser velocimeter module, and the cross-platform strapdown dynamic gravimeter performs vehicle-mounted integrated navigation using the output results of the gravity measurement system (1), the GNSS module and the laser velocimeter module; or, The functional module adopts a combination of an underwater Doppler velocimeter module, an underwater ultra-short baseline positioning module, and a depth meter module. The cross-platform strapdown dynamic gravimeter performs underwater combined navigation based on the output results of the gravity measurement system (1), the underwater Doppler velocimeter module, the underwater ultra-short baseline positioning module, and the depth meter module.

6. The cross-platform strapdown dynamic gravimeter according to claim 5, characterized in that: A mounting groove (1121a) is provided on the inner side wall of the first end cover (1121); The first thermal insulation layer (112a) and the temperature control component (1122) are arranged in the installation groove (1121a), and the edge of the first magnetic shielding layer (112b) is fixedly installed in a shape matching the edge of the installation groove (1121a), so as to confine the first thermal insulation layer (112a) and the temperature control component (1122) within the installation groove (1121a); The temperature control component (1122) comprises: a first temperature control component (11221), a radiator (11222); The first temperature control component (11221) is in contact with the first end cover (1121); The radiator (11222) is arranged in contact with the first temperature control component (11221).

7. The cross-platform strapdown dynamic gravimeter according to claim 6, characterized in that: The first temperature control component (11221) adopts a semiconductor temperature control component, and a plurality of the semiconductor temperature control components are arranged at intervals; The first heat insulation layer (112a) is disposed around the first temperature control component (11221); The radiator (11222) is pressed against the first temperature control component (11221), and the edge of the radiator (11222) is embedded in the first heat insulation layer (112a); The edge of the radiator (11222) is fixedly connected to the first end cover (1121) via a threaded connector; A T-shaped thermal insulation pad (11222a) is provided between the connection position of the threaded connector and the first end cover (1121), and the first thermal insulation layer (112a) is provided to cover the end of the threaded connector.

8. The cross-platform strapdown dynamic gravimeter according to claim 7, characterized in that: The temperature control component (1122) further includes: a circulation fan (11223); The circulation fan (11223) is installed on a side of the first magnetic shielding layer (112b) away from the radiator (11222), and is arranged opposite to the air permeable channel; The first end cover structure (112) further comprises: an end cover radiator (1123); The end cover radiator (1123) comprises: radiator fins (1123a) and a radiator fan (1123b); The radiator fins (1123a) and the radiator fan (1123b) are arranged side by side on the outer side wall of the first end cover (1121), wherein the radiator fins (1123a) are welded to the first end cover (1121).

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