Indoor movable base testing device for horizontal tensor gravity gradiometer and application of indoor movable base testing device

Abstract

The invention belongs to the technical field of precision measurement, and relates to an indoor movable base testing device for a horizontal tensor gravity gradiometer and application of the indoor movable base testing device. The device comprises a control processing module, and a gravity gradient standard field generation module and a motion simulation module which are respectively connected with the control processing module, the motion simulation module and the gravity gradient standard field generation module are both fixed on a foundation, and the gravity gradient standard field generation module comprises an electric displacement table; a pair of attraction source assemblies arranged in an orthogonal mode is fixed to the electric displacement table. The horizontal tensor gravity gradiometer to be measured is arranged on the motion simulation module and located between the pair of gravitation source assemblies; the control processing module is used for driving the motion simulation module to simulate the environment of the movable base, and is also used for enabling the gravitation source assembly to translate on the electric displacement table and generating a gravity gradient standard field dynamically matched with the motion of the gravitation source assembly. According to the invention, the performance verification of the horizontal tensor gravity gradiometer under the condition of simulating the movable base can be realized, and the test cost and period are reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of precision measurement, and more particularly relates to an indoor moving base test device for a horizontal tensor gravity gradiometer and application thereof. BACKGROUND

[0002] The rotating accelerometer gravity gradiometer, as a current important gravity gradiometer, has a broad application prospect in resource exploration and gravity-assisted navigation. The instrument is designed for a moving base environment and mainly includes a horizontal tensor gravity gradiometer and a full tensor gravity gradiometer. The horizontal tensor gravity gradiometer has become an optimal solution in the early stage of research and development due to its relatively simplified system structure and easier engineering implementation.

[0003] However, before the horizontal tensor gravity gradiometer is actually deployed, the problem of verifying the measurement performance in the moving base environment must be solved, and there is currently a lack of effective indoor test means to simulate complex field motion states and generate accurate and controllable gravity gradient standard fields, which seriously restricts the research and development efficiency and commercialization process.

[0004] Therefore, it is crucial to construct a test device that can simulate real moving base conditions in an indoor environment and complete quantitative evaluation of the dynamic base performance of the horizontal tensor gravity gradiometer. SUMMARY

[0005] In view of the defects of the prior art, the present application aims to provide an indoor moving base test device for a horizontal tensor gravity gradiometer and application thereof, and aims to solve the problem that there is currently a lack of effective indoor test means to simulate complex field motion states and generate accurate and controllable gravity gradient standard fields, and that it is impossible to realize quantitative and traceable indoor evaluation of the dynamic performance of the horizontal tensor gravity gradiometer under the moving base conditions.

[0006] To achieve the above objectives, this application provides an indoor dynamic base testing device for a horizontal tensor gravity gradiometer, comprising a control processing module and a gravity gradient standard field generation module and a motion simulation module respectively connected to the control processing module, wherein: both the motion simulation module and the gravity gradient standard field generation module are fixed on a foundation; the gravity gradient standard field generation module includes a pair of orthogonally arranged electric displacement stages, each equipped with a gravity source component, which is also orthogonally arranged; the horizontal tensor gravity gradiometer to be tested is mounted on the motion simulation module and located between the pair of gravity source components; the control processing module is used to drive the motion simulation module to simulate the dynamic base environment, and also to cause the gravity source components to translate on the electric displacement stages to perform reciprocating or variable-speed motion in the dynamic base environment, so as to generate a gravity gradient standard field that dynamically matches its motion in time and space; and also to obtain the theoretical gravity gradient tensor value generated by the gravity source components at the horizontal tensor gravity gradiometer based on the position information of the electric displacement stages and the motion simulation module.

[0007] Furthermore, the motion simulation module includes a support platform and multiple electric telescopic cylinders. The multiple electric telescopic cylinders are arranged in a ring below the support platform, so that the support platform is suspended in the air. The angle between each electric telescopic cylinder and the vertical direction, as well as the connection point of adjacent electric telescopic cylinders, are all acute angles. The horizontal tensor gravity gradient meter is fixed on the support platform. The electric telescopic cylinders can extend and retract independently to drive the horizontal tensor gravity gradient meter to achieve three-axis angular motion, three-axis motion, and multi-degree-of-freedom motion within 50Hz.

[0008] Furthermore, the gravity source assembly includes a supporting steel frame and a gravity source, wherein the supporting steel frame is fixed on a corresponding electric displacement platform, and the gravity source is fixedly mounted on the supporting steel frame.

[0009] Furthermore, the displacement positioning accuracy of the electric displacement stage is better than 1 mm, and the stroke range is not less than 2 meters.

[0010] Furthermore, the supporting steel frame is a gantry structure.

[0011] Furthermore, the control processing module includes a control unit, a power supply unit, and a central processing unit. The power supply unit is connected to and supplies power to the motion simulation module, the electric displacement stage, the control unit, and the central processing unit, respectively. The central processing unit is used to send a coordinated motion command containing the carrier timing and the displacement timing of the gravity source component to the control unit based on the position information. The control unit is used to control the motion simulation platform and the electric displacement stage to move in coordination based on the coordinated motion command.

[0012] Secondly, this application provides an application method for the indoor dynamic base testing device as described above, including: S1 constructs a spatial mass distribution model of the gravity source components; S2 performs mesh generation on the spatial mass distribution model and obtains the node coordinates; Based on the node coordinates, S3 calculates the theoretical gravity gradient tensor value of the gravity source component at the horizontal tensor gravity gradiometer to be tested using the infinitesimal accumulation method.

[0013] Furthermore, in step S2, during modeling, tetrahedral structural elements are selected to mesh the spatial mass distribution model.

[0014] Furthermore, in step S3, the expression for calculating the theoretical gravity gradient tensor using the infinitesimal element accumulation method is as follows:

[0015] in, G The gravitational constant is... k For the first k A microelement, p The density of the infinitesimal element. Let K be the volume of the k-th infinitesimal element. D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target point x Distance in direction For the first k From the infinitesimal element to the target point y Distance in direction; acceleration due to gravity g x exist y The spatial derivative of the direction is also the theoretical gravity gradient tensor value.

[0016] Furthermore, in step S3, the expression for calculating the theoretical gravity gradient tensor using the infinitesimal element accumulation method is as follows:

[0017]

[0018] in, G The gravitational constant is... k For the first k A micro-element, p The density of the infinitesimal element. Let K be the volume of the kth infinitesimal element. D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target pointx Distance in direction For the first k From the infinitesimal element to the target point y Distance in direction; acceleration due to gravity g x exist x Spatial derivative of direction, acceleration due to gravity g y exist y The spatial derivative of the direction, and Let be the theoretical gravity gradient tensor value.

[0019] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art: (1) This application can construct a complete dynamic base test environment in the laboratory by working together with the motion simulation module and the gravity gradient standard field generation unit. Without the need for field tests, it can simulate a known and controllable gravity gradient standard field. At the same time, based on the position information of the electric displacement stage and the motion simulation module, it can obtain the theoretical gravity gradient tensor value generated by the gravity source component at the horizontal tensor gravity gradiometer, and then obtain the accurate theoretical gravity gradient tensor value. The gravity gradient standard field can be used as the comparison benchmark for the theoretical gravity gradient tensor value, thereby realizing the performance verification of the horizontal tensor gravity gradiometer under simulated dynamic base conditions, which significantly reduces the test cost and cycle.

[0020] (2) This application can independently simulate the complex motion of the carrier and generate a gravity gradient standard signal (i.e., a gravity gradient standard field) with known and accurate values. It can also synchronize and correlate the complex motion of the carrier with the gravity gradient standard signal to form a closed-loop test process of "motion simulation-signal excitation-data comparison". This allows for accurate reproduction and quantitative evaluation of the response characteristics and measurement accuracy of the horizontal tensor gravity gradiometer in a dynamic base environment in a laboratory setting. Compared with the expensive and uncontrollable dynamic base test on a real carrier, the device of this application can provide a repeatable and accurately traceable test benchmark (i.e., a gravity gradient standard field) for the theoretical gravity gradient tensor value, significantly reducing the cost and risk of R&D testing.

[0021] (3) The device of this application realizes the simulation of complex motion through electric telescopic cylinders and support platform. Specifically, multiple independently telescopic electric telescopic cylinders drive the horizontal tensor gravity gradiometer to realize three-axis angular motion, three-axis motion and multi-degree-of-freedom motion within 50Hz, thereby realizing flexible simulation of complex motion postures of various carriers such as aircraft, vehicles and ships, and thus highly reproducing the actual field motion scene in the laboratory environment, and comprehensively evaluating the environmental adaptability and dynamic measurement performance of the horizontal tensor gravity gradiometer.

[0022] (4) This application provides a stable, reliable and repeatable test platform for the iterative optimization of the horizontal tensor gravity gradient instrument, which can quickly locate instrument problems and verify the improvement effect, thereby greatly accelerating its transformation from laboratory prototype to engineering product. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the indoor dynamic base testing device for the horizontal tensor gravity gradient meter provided in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the process for calculating the gravity gradient of a complex structure using the infinitesimal element accumulation method provided in Embodiment 2 of this application; Figure 3 This is a schematic diagram of the three-dimensional structure and mesh division of the lead column and steel frame gravity source provided in Embodiment 2 of this application; Figure 4 This is a schematic diagram of reading the coordinates of the grid nodes of the lead column and steel frame structure provided in Embodiment 2 of this application.

[0024] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Horizontal tensor gravity gradiometer, 2-Electric telescopic cylinder, 21-Support platform, 3-Foundation, 4-Gravity source, 5-Support steel frame, 6-Electric displacement stage, 7-Control unit, 8-Power supply unit, 9-Central processing unit. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] The embodiments of this application are described below with reference to the accompanying drawings.

[0027] Example 1 This embodiment provides an indoor dynamic base testing device for a horizontal tensor gravity gradient meter, such as... Figure 1As shown, the system includes a control processing module and a gravity gradient standard field generation module and a motion simulation module, which are respectively connected to the control processing module. Both the motion simulation module and the gravity gradient standard field generation module are fixed to the foundation 3 to maintain the relative stability of the entire gravity system. The gravity gradient standard field generation module includes an electric displacement stage 6, on which a pair of orthogonally arranged gravity source components are fixed. The horizontal tensor gravity gradiometer 1 to be measured is set on the motion simulation module and located between the pair of gravity source components. The control processing module is used to drive the motion simulation module to simulate the dynamic base environment, and also to make the gravity source components translate on the electric displacement stage 6 to perform reciprocating or variable-speed motion in the dynamic base environment, thereby generating a gravity gradient standard field that dynamically matches its motion in time and space. It is also used to obtain the theoretical gravity gradient tensor value generated by the gravity source components at the horizontal tensor gravity gradiometer 1 based on the position information of the electric displacement stage 6 and the motion simulation module.

[0028] In this embodiment, the aforementioned motion simulation module is a six-degree-of-freedom motion simulation platform, which includes a support platform 21 and six electric telescopic cylinders 2. The six electric telescopic cylinders 2 are connected end to end in a ring below the support platform 21, so that the support platform 21 is suspended away from the ground. The angle between each electric telescopic cylinder 2 and the vertical direction, as well as the angle at the junction of adjacent electric telescopic cylinders, are all acute angles, so that the six electric telescopic cylinders 2 form a continuous V-shaped ring.

[0029] The aforementioned horizontal tensor gravity gradiometer 1 is fixed on the support platform 21. Each electric telescopic cylinder 2 can extend and retract independently, and through coordinated cooperation, drive the horizontal tensor gravity gradiometer 1 to achieve three-axis angular motion, three-axis motion, and multi-degree-of-freedom motion within 50Hz. This enables the indoor reproduction of complex motions such as pitch, roll, yaw, and vertical, forward and backward, and left and right translation experienced by aircraft, vehicles, ships, and other carriers in real operations, providing a realistic dynamic base environment for the horizontal tensor gravity gradiometer 1.

[0030] In this embodiment, the electric displacement stage 6 includes a pair, and the pair of electric displacement stages 6 are arranged orthogonally; the gravity source assembly includes a support steel frame 5 and a gravity source 4. The support steel frame 5 is fixed on the corresponding electric displacement stage 6, and the gravity source 4 is fixedly set on the support steel frame 5. The electric displacement stage 6 is used to drive the support steel frame 5 and the gravity source 4 to perform high-precision linear motion.

[0031] Specifically, the aforementioned electric displacement stage 6 has a displacement positioning accuracy better than 1 mm and a stroke range of not less than 2 meters; the aforementioned gravity source 4 can be a high-density lead column as a standard mass block.

[0032] Specifically, the supporting steel frame 5 is a gantry structure.

[0033] In this embodiment, the control processing module includes a control unit 7, a power supply unit 8, and a central processing unit 9. The power supply unit 8 is connected to and supplies power to the motion simulation module, the electric displacement stage 6, the control unit 7, and the central processing unit 9, respectively. The central processing unit 9 is used to send a coordinated motion command containing the carrier timing and the displacement timing of the gravity source component to the control unit 7 based on the position information. The control unit 7 is used to control the motion simulation platform and the electric displacement stage 6 to move in coordination based on the coordinated motion command.

[0034] Specifically, the aforementioned control unit 7 integrates a high-performance motion control card and a programmable logic controller (PLC). It can receive coordinated motion commands from the central processing unit 9, which combine the carrier's motion trajectory and the changing laws of the gravity gradient field.

[0035] The aforementioned power supply unit 8 is connected to and supplies power to the motion simulation module, the electric displacement stage, the control unit, and the central processing unit, respectively. It mainly provides stable power to the multiple servo motors (used to drive the motion unit) mounted on the motion simulation module and the drive motors on the electric displacement stage 6.

[0036] The aforementioned central processing unit 9 is equipped with dedicated control and data processing software and has multiple core functions: (1) Planning and control: It can generate integrated coordinated motion commands containing the six-degree-of-freedom motion sequence of the carrier and the displacement sequence of the gravity source according to the preset dynamic base test scenario (such as simulating low-altitude detection of an aircraft) and send them to the control unit 7; (2) Theoretical benchmark generation: It provides an accurate theoretical benchmark for the evaluation of the horizontal tensor gravity gradient instrument 1. The central processing unit 9 first constructs a digital model of its spatial mass distribution based on the accurate three-dimensional model and material density of the gravity source 4 (lead column) and the supporting steel frame 5. During the test, position feedback signals from the electric displacement stage 6 or attitude feedback signals from the six-degree-of-freedom motion simulation platform are received in real time. Combined with the aforementioned spatial mass distribution digital model, the theoretical gravity gradient tensor value generated by the gravity source component (i.e., gravity source 4 and supporting steel frame 5) at the current position of the horizontal tensor gravity gradient meter 1 under test is dynamically calculated by the micro-element accumulation method. (3) Data acquisition and evaluation: The dynamic measurement signal output by the horizontal tensor gravity gradient meter 1 under test is collected synchronously and compared and analyzed with the theoretical gravity gradient value calculated in real time, so as to quantitatively evaluate the key performance indicators such as dynamic measurement accuracy, noise level and stability of the horizontal tensor gravity gradient meter 1 under the simulated dynamic base environment.

[0037] Through the above collaborative workflow, the indoor dynamic base testing device of this embodiment integrates the independent functions of complex carrier motion simulation, gravity gradient standard field generation and data processing into an organic whole, which can build a controllable, measurable and evaluable dynamic testing environment for the horizontal tensor gravity gradient meter indoors.

[0038] Example 2 As described in Embodiment 1 above, the control processing module needs to generate accurate theoretical gravity gradient values ​​in real time as a benchmark for evaluating the dynamic performance of the horizontal tensor gravity gradiometer 1 under test, especially the central processing unit 9. To achieve this, it is necessary to solve the problem of accurately calculating the gravity gradient tensor generated at any moving position by the composite gravity source (i.e., gravity source assembly) composed of the gravity source 4 and the supporting steel frame 5 in the gravity gradient standard field generation module. Conventional analytical methods cannot handle composite gravity sources, including irregular structures such as the supporting steel frame.

[0039] Therefore, this embodiment provides an application method for the indoor dynamic base testing device as described in Embodiment 1, including: S1 constructs a spatial mass distribution model of the gravity source components; S2 performs mesh generation on the spatial mass distribution model and obtains the node coordinates; S3 calculates the theoretical gravity gradient tensor value of the gravity source component at the horizontal tensor gravity gradiometer 1 under test based on node coordinates using the infinitesimal element accumulation method.

[0040] Combination Figure 2 As shown, in step S1, when modeling, regular tetrahedral structural elements are selected to mesh the spatial mass distribution model.

[0041] Specifically, this step involves establishing a computational baseline in the central processing unit 9 of Example 1. The specific steps include: (1) Use SolidWorks (or PreE, UG and other 3D modeling software) to accurately model the gravity source components (i.e., gravity source 4 and supporting steel frame 5) in the gravity gradient standard field generation module. During the modeling process, special attention should be paid to simplifying the model, deleting unimportant details (such as small holes, threads, etc.), and straightening the curved surfaces and chamfers of the slide rail related structural parts to ensure the uniformity of the mesh and reduce the impact of complex details on subsequent analysis.

[0042] (2) Import the three-dimensional model of the composite gravity source consisting of the lead column gravity source 4 and the supporting steel frame 5 established in (1) into finite element analysis or dedicated mesh generation software (such as ANSYS, COMSOL or SolidWorks built-in modules). Combined with Figure 3 As shown, during the mesh generation process, tetrahedral structural elements can be selected, and the uniformity of mesh element size should be ensured to improve computational accuracy. After mesh generation is completed, the mesh information is exported and the node coordinates are saved.

[0043] In step S3 above, the expression for calculating the theoretical gravity gradient tensor using the infinitesimal element accumulation method is as follows:

[0044] in, G The gravitational constant is... k For the first k A micro-element, p The density of the infinitesimal element. Let K be the volume of the kth infinitesimal element. D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target point x Distance in direction For the first k From the infinitesimal element to the target point y Distance in direction; acceleration due to gravity g x exist y The spatial derivative of the direction is also the theoretical value of the gravity gradient tensor.

[0045] In step S3, the expression for calculating the theoretical gravity gradient tensor using the infinitesimal element accumulation method can also be:

[0046]

[0047] This is the required theoretical gravity gradient tensor value; in, G The gravitational constant is... k For the first k A micro-element, p The density of the infinitesimal element. Let K be the volume of the kth infinitesimal element. D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target point x Distance in direction For the first k From the infinitesimal element to the target point y Distance in direction; acceleration due to gravity g x exist x Spatial derivative of direction, acceleration due to gravity g y exist y Spatial derivative of direction.

[0048] The following is combined with Figure 4As shown, the principle of calculating the theoretical gravity gradient tensor using the method of accumulating infinitesimal elements is explained in detail.

[0049] The set of node coordinates obtained after meshing the composite gravity source consisting of gravity source 4 and supporting steel frame 5 is loaded. x 0 ,y 0 ,z 0).

[0050] Assume there is a target point in space. The distance from each infinitesimal element to the target point is D :

[0051] Each infinitesimal element is related to the target point. The contribution of the gravitational gradient is:

[0052] in, p ( x 0 ,y 0 ,z 0) represents the density of the infinitesimal element. δ ij For Kronecker delta (when) i = j (1 if it is 1, 0 otherwise) , ,and i , j Represented as x , y , z Three directions.

[0053] In the case of discretization, volume V Divided into k For each infinitesimal element, iterate through them and sum them to obtain the total gravitational gradient:

[0054] Where, Δ L i,k and Δ L j,k For the first k Individual micro-element x , y , z The distance above, D k For the first k From the infinitesimal element to the target point The distance. Considering special cases, if the density of the infinitesimal elements within the three-dimensional structure... If the coordinates do not change and the volume of each infinitesimal element is equal, then Δ V k = V / k Therefore, the mass of each infinitesimal element is fixed, that is... p Δ V k The gravitational gradient of each infinitesimal element is calculated and accumulated. The theoretical formula for each gravitational gradient tensor is:

[0055] in, Represents gravitational acceleration g x exist x Spatial derivative of direction, Represents gravitational acceleration g x exist y Spatial derivative of direction, Represents gravitational acceleration g x exist y Spatial derivative of direction, Represents gravitational acceleration g y exist z Spatial derivative of direction, Represents gravitational acceleration g x exist z Spatial derivative of direction, Represents gravitational acceleration g z exist z Spatial derivative of direction. , , , , and Both represent the gravity gradient tensor; G The gravitational constant is... k For the first k A micro-element, p The density of the infinitesimal element. Let K be the volume of the kth infinitesimal element. D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target point x Distance in direction, Δ y k For the first k From the infinitesimal element to the target point yDistance in direction; D k 2 Distance D k The square of, D k 5 Distance D k The fifth power, For the first k From the infinitesimal element to the target point z Distance in direction; Δ x k 2 Distance Δ x k The square of Δ y k 2 Distance Δy k The square of Δ z k 2 Distance Δ z k The square of.

[0056] Among the aforementioned gravity gradient tensors, and This refers to the precise theoretical reference value of gravity gradient calculated by the central processing unit 9, which can be used for real-time comparison with the measured signal of the horizontal tensor gravity gradient instrument 1.

[0057] This embodiment demonstrates how to calculate the theoretical gravity gradient value for one of the sets of lead column gravity sources 4 and supporting steel frames 5 in the test device. In practical applications, the aforementioned central processing unit 9 can execute this method in parallel, that is, calculate the standard gravity gradient fields generated by the two sets of composite gravity sources composed of gravity sources 4 and supporting steel frames 5 respectively, and perform vector synthesis to obtain the complete theoretical value of the two-dimensional horizontal gravity gradient tensor that is consistent with the design of the gravity gradient standard field generation module.

[0058] The infinitesimal element accumulation method proposed in this embodiment is not only applicable to the specific lead column and steel frame structure in the indoor dynamic base testing device of Embodiment 1, but its principle is also universal. Therefore, it can also be used to calculate the standard gravity gradient field generated by a mass body of arbitrary shape and density distribution in space, providing a universal and high-precision method for calculating the standard gravity gradient field for similar precision gravity testing devices in this field.

[0059] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to execute the methods in the above embodiments.

[0060] Based on the methods in the above embodiments, this application provides a computer program product that, when run on a processor, causes the processor to execute the methods in the above embodiments.

[0061] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0062] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0063] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0064] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0065] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

[0066] It should be understood that expressions such as “comprising” and “may include” used in this 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 this application, terms such as “comprising” and / or “having” are to be interpreted as indicating a particular characteristic, number, operation, constituent element, component, or combination thereof, but not to exclude the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0067] Furthermore, in this 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.

[0068] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after connection. "Rotary connection" refers to a connection where the components can rotate relative to each other after connection. "Sliding connection" refers to a connection where the components can slide relative to each other after connection. The directional terms mentioned in the embodiments of this application, such as "top," "bottom," "inner," "outer," "left," and "right," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0069] Furthermore, the mathematical concepts mentioned in the embodiments of this application, such as symmetry, equality, parallelism, and perpendicularity, are limitations specific to the current technological level, rather than absolute and strict mathematical definitions. Slight deviations are permissible; approximations of symmetry, equality, parallelism, and perpendicularity are all acceptable. For example, "A and B are parallel" 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" means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0070] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An indoor dynamic base testing device for a horizontal tensor gravity gradient meter, characterized in that, The system includes a control processing module and a gravity gradient standard field generation module and a motion simulation module, which are respectively connected to the control processing module. The motion simulation module and the gravity gradient standard field generation module are both fixed on the foundation (3). The gravity gradient standard field generation module includes a pair of electric displacement stages (6) arranged orthogonally. Each electric displacement stage (6) is provided with a gravity source component, which is also arranged orthogonally. The horizontal tensor gravity gradiometer (1) to be tested is set on the motion simulation module and is located between the pair of gravity source components. The control processing module is used to drive the motion simulation module to simulate the dynamic base environment and to make the gravity source component translate on the electric displacement stage (6) to perform reciprocating motion or variable speed motion in the dynamic base environment, so as to generate a gravity gradient standard field that dynamically matches its motion in time and space. It is also used to obtain the theoretical gravity gradient tensor value generated by the gravity source component at the horizontal tensor gravity gradiometer (1) according to the position information of the electric displacement stage (6) and the motion simulation module.

2. The indoor dynamic base testing device as described in claim 1, characterized in that, The motion simulation module includes a support platform (21) and multiple electric telescopic cylinders (2). The multiple electric telescopic cylinders (2) are connected end to end in a ring below the support platform (21) to suspend the support platform (21). The angle between each electric telescopic cylinder (2) and the vertical direction, as well as the angle between the joints of adjacent electric telescopic cylinders, are all acute angles. The horizontal tensor gravity gradient meter (1) is fixed on the support platform (21). The electric telescopic cylinders (2) can extend and retract independently to drive the horizontal tensor gravity gradient meter (1) to achieve triaxial angular motion, triaxial motion, and multi-degree-of-freedom motion within 50Hz.

3. The indoor dynamic base testing device as described in claim 1, characterized in that, The gravity source assembly includes a supporting steel frame (5) and a gravity source (4). The supporting steel frame (5) is fixed on a corresponding electric displacement stage (6), and the gravity source (4) is fixedly installed on the supporting steel frame (5).

4. The indoor dynamic base testing device as described in claim 3, characterized in that, The displacement positioning accuracy of the electric displacement stage (6) is better than 1 mm, and the stroke range is not less than 2 meters.

5. The indoor dynamic base testing device as described in claim 3, characterized in that, The supporting steel frame (5) is a gantry structure.

6. The indoor dynamic base testing device as described in claim 1, characterized in that, The control processing module includes a control unit (7), a power supply unit (8), and a central processing unit (9). The power supply unit (8) is connected to and supplies power to the motion simulation module, the electric displacement stage (6), the control unit (7), and the central processing unit (9), respectively. The central processing unit (9) is used to send a coordinated motion command containing the carrier timing and the displacement timing of the gravity source component to the control unit (7) based on the position information. The control unit (7) is used to control the motion simulation platform and the electric displacement stage (6) to move in coordination based on the coordinated motion command.

7. A method for applying the indoor dynamic base testing device as described in any one of claims 1-6, characterized in that, include: S1 constructs a spatial mass distribution model of the gravity source components; S2 performs mesh generation on the spatial mass distribution model and obtains the node coordinates; Based on the node coordinates, S3 calculates the theoretical gravity gradient tensor value of the gravity source component at the horizontal tensor gravity gradient meter (1) to be measured using the micro-element accumulation method.

8. The application method as described in claim 7, characterized in that, In step S2, the spatial mass distribution model is meshed using regular tetrahedral structural elements.

9. The application method as described in claim 7, characterized in that, In step S3, the expression for calculating the theoretical gravity gradient tensor using the infinitesimal element accumulation method is as follows: in, G The gravitational constant is... k For the first k A micro-element, ρ The density of the infinitesimal element. For the first k The volume of a micro-element; D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target point x Distance in direction For the first k From the infinitesimal element to the target point y Distance in direction; acceleration due to gravity g x exist y The spatial derivative of the direction is the theoretical gravity gradient tensor value.

10. The application method as described in claim 7, characterized in that, In step S3, the expression for calculating the theoretical gravity gradient tensor using the infinitesimal element accumulation method is as follows: in, G The gravitational constant is... k For the first k A micro-element, ρ The density of the infinitesimal element. For the first k The volume of a micro-element; D k For the first k The distance from each infinitesimal element to the target point For the first k From the infinitesimal element to the target point x Distance in direction For the first k From the infinitesimal element to the target point y Distance in direction; acceleration due to gravity g x exist x Spatial derivative of direction, acceleration due to gravity g y exist y The spatial derivative of the direction, and Let be the theoretical gravity gradient tensor value.

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