Electrostatic moon surface vector gravimeter

Abstract

The invention belongs to the field of gravitational acceleration measurement, and particularly discloses an electrostatic moon surface vector gravimeter. According to the invention, the platform subsystem is adjusted and controlled to be approximately horizontal through the attitude, and then the three-axis acceleration data is obtained through the electrostatic acceleration sensing subsystem, so that the gravity value vector output is realized under the inclination measurement condition, and the environmental adaptability is high. Besides, the attitude adjustment and control platform subsystem directly multiplexes the three-axis acceleration data of the sensitive mass to carry out attitude adjustment, so that a gyroscope and an accelerometer in the attitude adjustment and control platform subsystem are abandoned, and light weight, miniaturization and low power consumption of the lunar surface gravity vector measurement device are realized; and the difference of acceleration data from different sources can be avoided, and the accuracy of a measurement result is improved. According to the measuring device, the relative measuring precision can reach the level of ten microgains, and the size is small.

Description

Technical Field

[0001] The present application belongs to the field of gravity acceleration measurement, and more specifically, to an electrostatic lunar surface vector gravimeter. Background Art

[0002] With the continuous development of human space technology, deep space exploration missions with the moon as the exploration target are gradually entering the surface sampling and surveying stage, preparing for the next stage of landing missions. Accurately obtaining the lunar gravity field is crucial for studying the internal structure of the moon and determining the lunar elevation benchmark and geoid.

[0003] Existing gravimeters are mainly used on the surface of the earth. Gravimeters used on the surface of the earth are divided into absolute gravimeters and relative gravimeters. Absolute gravimeters can meet the accuracy requirements of lunar gravity measurement, but they are large in size; relative gravimeters, such as MEMS small gravimeters using springs, are affected by temperature, making it difficult to control zero bias stability, and can only measure in one vertical direction, requiring a high level of stable platform; the use of superconducting gravimeters requires absolute low temperature conditions, which are difficult to meet on the surface of the moon.

[0004] In addition, there are also some accelerometers used in space stations, but their design is mainly focused on high resolution and low range, generally 10 -7 -10 -5 m / s 2 , and the weight measurement requirement on the moon is 2m / s 2 , so it cannot be satisfied.

[0005] Therefore, it is urgent to develop a gravimeter that can measure gravitational acceleration on the lunar surface. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of this application is to provide an electrostatic lunar surface vector gravimeter, which aims to solve the problem that the existing gravimeters cannot meet the measurement accuracy and volume of the lunar surface.

[0007] The first aspect of the present application relates to an electrostatic lunar surface vector gravimeter, comprising:

[0008] An electrostatic acceleration sensor subsystem is used to measure the three-axis acceleration data of the sensitive mass through differential capacitance and transmit it to the data fusion processing subsystem;

[0009] The attitude adjustment and control platform subsystem is used to obtain the three-axis acceleration data of the sensitive mass from the data fusion subsystem, adjust the installation plane of the electrostatic acceleration sensor subsystem to make it approximately horizontal during the measurement of gravity acceleration on the lunar surface, and transmit the attitude data to the data fusion subsystem;

[0010] The data fusion processing subsystem is used to decompose the vertical component of the three-axis acceleration data and vector synthesize it into gravity acceleration; compare and analyze the three-axis acceleration data and attitude data to evaluate the stability of the gravimeter measurement results, and output the gravity acceleration when stable as the final result.

[0011] In some embodiments, the electrostatic acceleration sensor subsystem includes:

[0012] A sensitive probe module, comprising a sensitive mass and a capacitor plate, wherein the sensitive mass is used to move away from a balanced position under the action of the gravity acceleration of the lunar surface after being released, and the capacitor plate is used to change the differential capacitance accordingly when the distance between the sensitive mass and the capacitor plate changes;

[0013] A locking and releasing module, used to keep the sensitive mass in a balanced position in a locked state and to release the sensitive mass in a released state;

[0014] The servo control module includes a high-voltage control module and a normal-pressure control module. The high-voltage control module is used to detect the electrical signal corresponding to the differential capacitance change of the upper and lower capacitor plates, generate an electrostatic force acting on the sensitive mass to return it to a vertical equilibrium position, and the normal-pressure control module is used to respectively detect the electrical signal corresponding to the differential capacitance change of the left and right capacitor plates and the front and rear capacitor plates, generate an electrostatic force acting on the sensitive mass to return it to a horizontal equilibrium position.

[0015] It should be noted that the present application adds a high-voltage control module, which is used to detect the electrical signal corresponding to the differential capacitance change of the upper and lower capacitor plates, and generate an electrostatic force acting on the sensitive mass to return it to a vertical equilibrium position. Compared with the prior art, the problem of using an electrostatic accelerometer in a gravity environment is solved by balancing gravity through electrostatic force.

[0016] In some embodiments, the electrostatic acceleration sensor subsystem further includes:

[0017] The temperature control module is symmetrically arranged relative to the sensitive mass and is used to detect and control the working environment temperature fluctuation of the sensitive probe module to not exceed 0.1°C.

[0018] It should be noted that if the temperature fluctuation range exceeds 0.1°C, it will cause a slight expansion or contraction of the sensitive mass, affecting the measurement accuracy. This application controls the temperature fluctuation range of the working environment of the sensitive probe module within 0.1°C through the temperature control module, reducing the measurement instability of the sensitive mass caused by the change of the lunar environment temperature.

[0019] In some embodiments, the sensitive mass and the capacitor plate frame are both made of microcrystalline glass.

[0020] It should be noted that the present application preferably uses microcrystalline glass to make the sensitive mass and capacitor plate frame, and its expansion coefficient is 10 -7 / K level, with high stability, which reduces the sensitivity of sensitive mass deformation to changes in lunar environmental temperature.

[0021] In some embodiments, the sensitive mass surface is gold plated and the vertical axis is insulated from the horizontal axis.

[0022] It should be noted that the present application prefers the sensitive mass of the above-mentioned design, so as to apply a bias voltage on its surface and separate normal pressure and high pressure control to achieve high-pressure suspension.

[0023] In some embodiments, the electrostatic acceleration sensor subsystem further includes:

[0024] The closed cavity is used to enclose the remaining part of the electrostatic acceleration sensor subsystem to prevent dust from falling on the sensitive mass surface; the closed cavity is non-vacuum.

[0025] It should be noted that there is no need to provide a vacuum cavity for the sensitive probe module, which can further reduce the volume and weight of the gravimeter.

[0026] In some embodiments, the data fusion processing subsystem evaluates the stability of the gravimeter measurement results by:

[0027] According to the three-axis acceleration data, calculate the two inclination angles between the sensitive mass and the horizontal plane;

[0028] Extracting two inclination angles between the installation plane of the electrostatic acceleration sensor subsystem and the horizontal plane from the attitude data;

[0029] By performing an F test on the two groups of corresponding inclination angle data of the electrostatic acceleration sensor subsystem and the attitude adjustment and control platform subsystem, if the P values ​​of the two groups of tests are both greater than 0.05, the gravimeter measurement results are judged to be stable, otherwise, they are judged to be unstable.

[0030] It should be noted that the present application preferably adopts the above-mentioned indicators and means to make stability judgments. Compared with the traditional gravimeter that evaluates stability through the Allan variance of long-term measurement data, it solves the stability evaluation of gravity measurement results with small sample data and realizes rapid evaluation of weight measurement results.

[0031] In some embodiments, the area of ​​the selected single capacitor plate is greater than 150 mm 2 , the distance between the capacitor plate and the sensitive mass is less than 30μm, the weight of the sensitive mass is less than 25g, and the bias voltage and feedback voltage of the sensitive mass are within 100V, making the relative measurement accuracy of the electrostatic lunar surface vector gravimeter at the level of ten microgallons and the range of 2m / s 2 .

[0032] In some embodiments, the volume of each component in the electrostatic acceleration sensor subsystem does not exceed 10 cubic centimeters, and the total volume of the electrostatic acceleration sensor subsystem does not exceed 10 cubic centimeters.

[0033] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0034] Compared with the prior art that requires the gravimeter to be equipped with a completely independent stable platform, this application proposes an electrostatic lunar surface vector gravimeter, which is first made approximately horizontal through the attitude adjustment and control platform subsystem, and then the three-axis acceleration data is obtained through the electrostatic acceleration sensor subsystem, so as to realize the gravity value vector output under the tilt measurement condition, and has strong environmental adaptability. In addition, the attitude adjustment and control platform subsystem directly reuses the three-axis acceleration data of the sensitive mass for attitude adjustment, which not only discards the gyroscope and accelerometer in the attitude adjustment and control platform subsystem, but also realizes the lightweight, miniaturization and low power consumption of the lunar surface gravity vector measurement device; it can also avoid the differences in acceleration data from different sources and improve the accuracy of the measurement results. The measurement device designed in this application has a relative measurement accuracy of up to ten micro-Gal levels and a small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of an electrostatic lunar surface vector gravimeter provided in an embodiment of the present application.

[0036] Figure 2 It is a structural diagram of the data fusion processing subsystem provided in an embodiment of the present application.

[0037] Figure 3 It is a structural schematic diagram of the attitude adjustment and control platform subsystem provided in an embodiment of the present application.

[0038] Figure 4 It is a schematic diagram of the three-axis gravity acceleration vector output provided in an embodiment of the present application.

[0039] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0040] 1 is the electrostatic acceleration sensor subsystem, 2 is the attitude adjustment and control platform subsystem, 3 is the data fusion processing subsystem, and 4 is the power module;

[0041] 11 is a sensitive probe module, 11-1 is a sensitive mass, and 11-2 is a capacitor plate;

[0042] 12 is a locking and releasing module;

[0043] 13 is a servo control module, 13-1 is a high pressure control module, and 13-2 is a normal pressure control module;

[0044] 14 is a temperature control module;

[0045] 15 is a closed cavity;

[0046] 21 is a frame and mounting module, 21-1 is a pitch axis frame, 21-2 is a roll axis frame, 21-3 is a stable platform bracket, and 21-4 is a vibration isolation base;

[0047] 22 is a sensor and drive module, 22-1 is an inclination sensor, 22-2 is a DC torque motor,

[0048] 31 is a digital-to-analog conversion module, 32 is a data fusion processor, 33 is a data storage module, and 34 is a display and operation panel. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0051] like Figure 1 As shown, the present application provides an electrostatic lunar surface vector gravimeter, including: an electrostatic acceleration sensor subsystem 1, an attitude adjustment and control platform subsystem 2, a data fusion processing subsystem 3 and a power module 4.

[0052] The electrostatic acceleration sensor subsystem 1 is used to measure the three-axis acceleration data of the sensitive mass through differential capacitance and transmit it to the data fusion processing subsystem 3;

[0053] The attitude adjustment and control platform subsystem 2 is used to obtain the three-axis acceleration data of the sensitive mass from the data fusion subsystem, adjust the installation plane of the electrostatic acceleration sensor subsystem to make it approximately horizontal during the measurement of gravity acceleration on the lunar surface, and transmit the attitude data to the data fusion subsystem 3;

[0054] The data fusion processing subsystem 3 is used to decompose the vertical component of the three-axis acceleration data and synthesize it into gravity acceleration by vector; compare and analyze the three-axis acceleration data and attitude data to evaluate the stability of the gravimeter measurement results, and output the gravity acceleration when stable as the final result.

[0055] like Figure 1As shown, the electrostatic acceleration sensor subsystem 1 is installed above the attitude adjustment and control platform subsystem 2, the data fusion processing subsystem 3 is suspended above the electrostatic acceleration sensor subsystem 1 through a stable platform bracket, and the power module 4 is installed on the vibration isolation base of the attitude adjustment and control platform subsystem.

[0056] In some embodiments, the electrostatic acceleration sensor subsystem 1 includes:

[0057] A sensitive probe module 11, comprising a sensitive mass 11-1 and a capacitor plate 11-2, wherein the sensitive mass is used to move away from a balanced position under the action of gravity acceleration of the lunar surface after release, and the capacitor plate is used to change the differential capacitance accordingly when the distance between the sensitive mass and the capacitor plate changes;

[0058] A locking and releasing module 12, used to keep the sensitive mass in a balanced position in a locked state, and to release the sensitive mass in a released state;

[0059] The servo control module 13 includes a high-voltage control module 13-1 and a normal-voltage control module 13-2. The high-voltage control module is used to detect the electrical signal corresponding to the differential capacitance change of the upper and lower capacitor plates, generate an electrostatic force acting on the sensitive mass to return it to a vertical equilibrium position, and the normal-voltage control module is used to detect the electrical signal corresponding to the differential capacitance change of the left and right capacitor plates and the front and rear capacitor plates respectively, generate an electrostatic force acting on the sensitive mass to return it to a horizontal equilibrium position.

[0060] like Figure 1 As shown, the sensitive probe module is installed in the closed cavity 15, including a sensitive mass, a capacitor plate and a probe frame 11-3. The sensitive mass is placed in the middle of the capacitor plate; there are three groups of capacitor plates, fixed to the above-mentioned probe frame up and down, left and right, and front and back, with one group for each of the three axes, and each group of plates includes at least one pair of plates. The temperature control module is symmetrically installed on the upper and lower cavity surfaces in the closed cavity 15; the locking and releasing module is installed on the opposite side of the closed cavity 15; the high-pressure control module and the normal pressure control module are respectively installed on the other opposite sides of the closed cavity 15.

[0061] In some embodiments, the sensitive mass shape can be a solid (hollow) cube, a cuboid or a sphere, and is designed as a replaceable component, which can be selected according to the gravity acceleration value on the lunar surface. The sensitive probe is designed to be miniaturized, taking a cube as an example, the size is 2cm 3 The sensitive mass and the capacitor plate frame are both made of glass-ceramic.

[0062] In some embodiments, the sensitive mass surface is plated with gold, and the vertical axis and the horizontal axis are insulated. Different bias voltages are applied through gold wires respectively; the capacitor plate frame is also made of microcrystalline glass, and the capacitor plate contour (three axes are perpendicular and orthogonal) is ground and plated with gold.

[0063] In some embodiments, the locking and releasing module locks the sensitive mass when not in a measurement state, for example, during transportation, and releases the sensitive mass at the start of a measurement operation.

[0064] In some embodiments, the electrostatic acceleration sensor subsystem further includes: a temperature control module 14, which is symmetrically arranged relative to the sensitive mass and is used to detect and control the working environment temperature fluctuation of the sensitive probe module to not exceed 0.1°C.

[0065] In some embodiments, the electrostatic acceleration sensor subsystem further includes: a closed cavity 15, which is used to enclose the remaining part of the electrostatic acceleration sensor subsystem to prevent dust from falling on the sensitive mass surface; the closed cavity is non-vacuum. The closed cavity can be a cubic structure, a rectangular parallelepiped or a cylindrical structure.

[0066] The servo control module adopts thick film integration for miniaturization design. The high-voltage control module is used to generate strong electrostatic force to balance the gravitational acceleration of the lunar surface (electrostatic force generated by the suspension voltage of about 200V), including a capacitive displacement sensor unit, a control unit and a high-voltage feedback execution unit; the normal-pressure control module is used to generate weak electrostatic force for capacitor plate servo control (the feedback electrostatic force is the electrostatic force generated by 0-90V voltage), including a capacitive displacement sensor unit, a control unit and a normal-pressure feedback execution unit.

[0067] Attitude adjustment and control platform subsystem 2 is used to adjust the attitude of the cavity and provide high precision level (10 -7 m / s 2 / Hz 1 / 2 ) to measure attitude and low vibration (noise less than 10 -7 m / s 2 / Hz 1 / 2 ) Measurement environment, such as Figure 3 As shown, it includes a frame and mounting module 21 and a sensing and driving module 22.

[0068] The frame and installation module 21 is used to provide a system installation frame and contact the lunar surface to provide a low-vibration measurement environment; it includes: a pitch axis frame 21-1, a roll axis frame 21-2, a stable platform bracket 21-3 and a vibration isolation base 21-4. The vibration isolation base is located at the bottom of the entire subsystem and contacts the lunar surface; the stable platform bracket is installed on the vibration isolation base; the pitch axis frame and the roll axis frame are installed on the two horizontal axes of the stable platform bracket and are in the same plane.

[0069] The sensing and driving module 22 includes an inclination sensor 22-1 and a DC torque motor 22-2. A DC torque motor and an inclination sensor are respectively installed on the pitch axis frame and the roll axis frame to provide high-precision horizontal measurement posture.

[0070] like Figure 2 As shown, the data fusion processing subsystem 3 includes: a digital-to-analog conversion module 31, a data fusion processor 32, a data storage module 33 and a display and operation panel 34.

[0071] A digital-to-analog conversion module 31 is used for data conversion and transmission between the three subsystems;

[0072] A data fusion processor 32 is used to fuse and analyze the three-axis acceleration data and the attitude adjustment and control platform attitude information, and output the gravity measurement value;

[0073] A data storage module 33, used to store gravity measurement data to meet long-term measurement requirements;

[0074] The display and operation panel 34 is used to provide visual information and convenient operation.

[0075] The electrostatic acceleration sensor subsystem 1 transmits the measured three-axis acceleration data of the sensitive mass to the digital-to-analog conversion module 31. The attitude adjustment and control platform subsystem 2 transmits the attitude data to the data fusion processing subsystem 3, and obtains the three-axis acceleration data of the sensitive mass from the data fusion processing subsystem 3.

[0076] The power supply module 4 is used to meet the power demand of various systems of the gravimeter.

[0077] In actual operation, the sensitive mass in the electrostatic acceleration sensor subsystem applies a high-frequency carrier signal V through the metal wire. p and a DC bias voltage V b , where V b The purpose is to linearize the normal pressure and high pressure feedback execution units, and their stability is directly related to the resolution of the accelerometer; V p The purpose is to make the capacitive displacement sensing unit operate at a high frequency to effectively suppress the low-frequency flicker noise of semiconductor devices such as operational amplifiers in the capacitive displacement sensing unit.

[0078] When the electrostatic lunar surface vector gravimeter proposed in this application is placed on the lunar surface for gravity measurement, the working process is as follows: the attitude adjustment and control platform subsystem performs attitude adjustment, and when the readings of the two tilt sensors in the display and operation panel are near 0, the sensitive mass is released, causing it to displace relative to the capacitor plate and leave the equilibrium position. The capacitance balance between the capacitor plate and the sensitive mass is destroyed at this time, and the capacitive displacement sensing unit tests the offset, and obtains the carrier signal containing the movement of the sensitive mass in different directions through the pre-amplification and AC amplification and signal combination therein, and then multiplies and demodulates it with the excitation signal, and performs low-pass filtering to obtain the low-frequency motion signal of the capacitor plate relative to the sensitive mass movement direction. Subsequently, the feedback control signal V is obtained through the feedback execution unit. fed , using the feedback execution unit to fed applied to the corresponding capacitor plates, pulling the sensitive mass back to its equilibrium position.

[0079] like Figure 4 As shown in the figure, in this closed-loop working mode, the sensitive mass is always maintained in its equilibrium position. Due to the error in the angle of the inclination sensor of the attitude adjustment and control platform, the gravitational acceleration on the lunar surface can be synthesized by the three-axis acceleration data vector of the electrostatic acceleration sensor subsystem. At the same time, the inclination data is calculated from the three-axis acceleration data of the electrostatic acceleration sensor subsystem and fused with the inclination sensor data (the formula is as follows) to evaluate the stability of the gravimeter measurement data.

[0080] cos 2 α+cos 2 β+cos 2 γ=1

[0081]

[0082] Among them, F x , F y , F z are the electrostatic forces in the left-right axis, front-back axis and up-down axis directions of the sensitive mass, α is the angle between the left-right axis of the sensitive mass and the horizontal plane, β is the angle between the front-back axis of the sensitive mass and the horizontal plane, and γ is the angle between the up-down axis of the sensitive mass and the vertical direction.

[0083] The stability analysis of the vector lunar gravity acceleration and gravimeter data is output through the display and operation panel in the data fusion processing subsystem and stored in the data storage module.

[0084] It should be understood that expressions such as "including" and "may include" that may be used in the present application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In the present application, terms such as "including" and / or "having" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components, or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0085] In addition, in the present application, the expression "and / or" includes any and all combinations of the associated listed words. For example, the expression "A and / or B" may include A, may include B, or may include both A and B.

[0086] The directional terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only references to the directions of the drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0087] In addition, in the embodiments of the present application, the mathematical concepts mentioned are symmetry, equality, parallelism, verticality, etc. These limitations are all for the current state of the art, rather than being absolutely strict definitions in a mathematical sense, and allow a small amount of deviation, approximation to symmetry, approximation to equality, approximation to parallelism, approximation to verticality, etc. are all possible. For example, A and B are parallel, which means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. A and B are perpendicular, which means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0088] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An electrostatic lunar surface vector gravimeter, characterized in that: include: An electrostatic acceleration sensor subsystem is used to measure the three-axis acceleration data of the sensitive mass through differential capacitance and transmit it to the data fusion processing subsystem; The attitude adjustment and control platform subsystem is used to obtain the three-axis acceleration data of the sensitive mass from the data fusion subsystem, adjust the installation plane of the electrostatic acceleration sensor subsystem to make it approximately horizontal during the measurement of gravity acceleration on the lunar surface, and transmit the attitude data to the data fusion subsystem; A data fusion processing subsystem is used to decompose the vertical component of the three-axis acceleration data and synthesize it into gravity acceleration; The three-axis acceleration data and attitude data are compared and analyzed to evaluate the stability of the gravimeter measurement results, and the gravitational acceleration when stable is output as the final result.

2. The electrostatic lunar surface vector gravimeter according to claim 1, characterized in that: The electrostatic acceleration sensor subsystem comprises: A sensitive probe module, comprising a sensitive mass and a capacitor plate, wherein the sensitive mass is used to move away from a balanced position under the action of the gravity acceleration of the lunar surface after being released, and the capacitor plate is used to change the differential capacitance accordingly when the distance between the sensitive mass and the capacitor plate changes; A locking and releasing module, used to keep the sensitive mass in a balanced position in a locked state and to release the sensitive mass in a released state; The servo control module includes a high-voltage control module and a normal-pressure control module. The high-voltage control module is used to detect the electrical signal corresponding to the differential capacitance change of the upper and lower capacitor plates, generate an electrostatic force acting on the sensitive mass to return it to a vertical equilibrium position, and the normal-pressure control module is used to respectively detect the electrical signal corresponding to the differential capacitance change of the left and right capacitor plates and the front and rear capacitor plates, generate an electrostatic force acting on the sensitive mass to return it to a horizontal equilibrium position.

3. The electrostatic lunar surface vector gravimeter according to claim 2, characterized in that: The electrostatic acceleration sensor subsystem also includes: The temperature control module is symmetrically arranged relative to the sensitive mass and is used to detect and control the working environment temperature fluctuation of the sensitive probe module to not exceed 0.1°C.

4. The electrostatic lunar surface vector gravimeter according to claim 2, characterized in that: The sensitive mass and the capacitor plate frame are both made of microcrystalline glass.

5. The electrostatic lunar surface vector gravimeter according to claim 4, characterized in that: The sensitive mass surface is gold plated and the vertical and horizontal axes are kept insulated.

6. The electrostatic lunar surface vector gravimeter according to claim 2, characterized in that: The electrostatic acceleration sensor subsystem also includes: A closed cavity is used to enclose the remaining part of the electrostatic acceleration sensor subsystem to prevent dust from falling on the sensitive mass surface; The closed cavity is non-vacuum.

7. The electrostatic lunar surface vector gravimeter according to claim 1, characterized in that: The data fusion processing subsystem evaluates the stability of the gravimeter measurement results in the following ways: According to the three-axis acceleration data, calculate the two inclination angles between the sensitive mass and the horizontal plane; Extracting two inclination angles between the installation plane of the electrostatic acceleration sensor subsystem and the horizontal plane from the attitude data; By performing an F test on the two groups of corresponding inclination angle data of the electrostatic acceleration sensor subsystem and the attitude adjustment and control platform subsystem, if the P values ​​of the two groups of tests are both greater than 0.05, the gravimeter measurement results are judged to be stable, otherwise, they are judged to be unstable.

8. The electrostatic lunar surface vector gravimeter according to claim 1, characterized in that: The area of ​​the selected single capacitor plate is greater than 150mm 2 , the distance between the capacitor plate and the sensitive mass is less than 30μm, the weight of the sensitive mass is less than 25g, and the bias voltage and feedback voltage of the sensitive mass are within 100V, making the relative measurement accuracy of the electrostatic lunar surface vector gravimeter at the level of ten microgallons and the range of 2m / s 2 .

9. The electrostatic lunar surface vector gravimeter according to claim 1, characterized in that: The volume of each component in the electrostatic acceleration sensor subsystem does not exceed 10 cubic centimeters, and the total volume of the electrostatic acceleration sensor subsystem does not exceed 10 cubic centimeters.

Images