42 results about "Marine gravity" patented technology

The invention relates to a marine inertia-gravity integrated navigation device, which consists of a dual-ring inertial platform system, a gravity sensor, a Doppler log, a deep sounding apparatus, a digital gravity anomaly chart, an integrated navigation computer and a display terminal. The inertial measurement sensor of the dual-ring inertial platform system is a liquid floated gyroscope, a rate fiber optic gyroscope and a quartz flexible pendulous accelerometer. The device not only can be used to position and orient ocean motion carriers, but also can be used to measure marine gravity. Moreover, the device has the advantages of small size, high precision, good reliability, simple structure and easy maintenance, and has a wide scope of application in the technical field of navigation and control.

The invention discloses a geoid-vertical line deviation correction method and system for a GNSS-R specular reflection point. The method comprises the steps of acquiring spatial position information ofnavigation satellites and a receiver; determining a specular reflection point on the reference ellipsoid according to the spatial position information of the navigation satellites and the receiver; introducing the elevation correction amount, iteratively correcting the specular reflection point on the reference ellipsoid to the geoid to obtain a specular reflection point on the geoid; calculatingthe spatial geometric relationship between the normal projection of the geoid and the reflection path, determining the vertical line deviation correction amount of the specular reflection point, anditeratively correcting the normal direction of the reflection path to the normal direction of the geoid, and carrying out iterative correction on the specular reflection point on the geoid to obtain afinal specular reflection point corrected by the vertical line deviation on the geoid. The geoid-vertical line deviation correction method and system improve the positioning accuracy of the specularreflection point and provide support for acquiring a marine gravity field with high spatial resolution and high precision.

The invention discloses an underwater gravity lighthouse submarine navigation method and system combined with an AUV. The method comprises the steps of determining the current position coordinate of anavigator according to the effective time of inertial navigation, searching the coordinate of a lighthouse closest to the current position coordinate from a marine gravity lighthouse database by taking the coordinate as the center, controlling a submarine to travel to the position right above the lighthouse closest to the current position coordinate, and releasing a cable-free underwater robot; and enabling a resolving center to perform the matching analysis according to the data information acquired by the cable-free underwater robot and the abnormal value of the lighthouse closest to the current position coordinate to obtain the actual position coordinate of the submarine. According to the present invention, the cable-free underwater robot is used for measuring data and transmitting thedata through a cable, the movement of a submarine parent body is not needed, and the wireless communication does not exist between the cable-free underwater robot and the submarine parent body, so that the hiding capacity of the submarine is improved.

Disclosed in the invention is a Mallat algorithm-based marine gravity measurement error eliminating method. The method comprises the following steps: obtaining latitude, course, and ship speed information outputted by an inertial navigation system as well as a gravity signal measured by a gravity meter in real time; calibrating an initial parameter of the gravity meter; selecting a wavelet function and calculating a scaling function phi (t) and a wavelet function psi (t); calculating coefficients of a high-pass filter and a low-pass filter; carrying out decomposition on the gravity signal by using a Mallat algorithm according to the selected filter coefficients and selecting a decomposition level number; according to a signal to noise ratio of an original signal, calculating a heuristic SURE threshold value and carrying out noise reduction on the gravity signal based on a soft threshold method; reconstructuring the gravity signal after noise reduction, calculating an Etvs correction value by utilizing the information outputted by the inertial navigation system and carrying out filtering processing on the Etvs correction value; and carrying out Etvs correction on the gravity signal after the reconstruction. According to the invention, a defect of insufficient real-time performance during the gravity measurement can be overcome; a main error during the gravity measurement can be eliminated; and the gravity signal precision is improved.

The invention discloses a method for inverting an ocean gravity field by using imaging type altimeter data. The method belongs to the field of ocean measurement, and comprises the steps of: determining plumb line deviation and inverting an ocean gravity field for a satellite height-finding technology; considering mutual restriction of precision and resolution of data of the traditional subsatellite point altimeter, and meanwhile, wherein the effective spatial resolution of the ocean gravity field is limit due to large distance between tracks; utilizing high-precision sub-satellite point altimeter and a high-resolution synchronous swath altimeter of an imaging type altimeter satellite to obtain sea surface height observation data, balancing joint intersection points of observation data of the sub-satellite point altimeter and the swath altimeter to improve the overall sea surface height precision after filtering out high-frequency noise; and then performing differential calculation to obtain rich plumb line deviation information and inverting the ocean gravity field. By adopting the method, the defect that the traditional sub-satellite point altimeter is insensitive to a plumb linedeviation east component can be overcome, and a high-resolution ocean gravity field with uniform precision in each direction can be inversed.

The present invention discloses a method for the production of mean sea height products based on satellite altimeter data network function interpolation, which comprises the steps of: data preprocessing, determination of grid size and central point, grid interpolation, and refined interpolation. The method according to the present invention facilitates automatic grid segmentation on the computer, has obvious statistical characteristics, reflect the spatial distribution of the marine gravity field on the physical properties, wherein the marine gravity field is in a positive proportion to mean sea surface height, gives full consideration to the physical characteristics of sea level, and can improve mean sea height products of high accuracy and spatial resolution.

The invention discloses a method for improving ocean gravity field interpolation precision based on a submarine topography three-dimensional optimization principle. The method comprises steps of submarine topography data and a global gravity field model being acquired; constructing a three-dimensional ocean gravity anomaly model according to the acquired submarine topographic data and the global gravity field model; performing interpolation calculation on the three-dimensional ocean gravity anomaly model to obtain a geoid three-dimensional correction model; and according to the geoid three-dimensional correction model, determining a gravity anomaly value at an unknown point in the prediction area to obtain a high-precision and high-spatial-resolution marine gravity anomaly map. According to the method, the submarine topography is introduced into a common two-dimensional Kriging formula, a novel submarine topography three-dimensional optimization method is constructed, the precision loss is minimized while the spatial resolution of the global marine gravity anomaly map is improved, the interpolation precision is high, the calculation speed is high, and an effective basis is providedfor improving the submarine gravity matching navigation precision.

The invention relates to a submarine navigation method and a submarine navigation system based on a multi-dimensional gravity gradient lighthouse. The submarine navigation method comprises the following steps of: acquiring the position of a position point in the ocean; according to the position point, adopting a high-precision gravity field model to determine ocean gravity gradient data; screeningthe ocean gravity gradient data, and determining gravity gradient lighthouses; acquiring the position of the current sea region and the current position of a submarine; determining a matched gravitygradient lighthouse according to a gravity gradient lighthouse database, the position of the current sea region and the current position of the submarine; determining the position of the submarine according to the matched gravity gradient lighthouse and marine gravity gradient data measured by a ship-borne gradient gravimeter; and resetting an inertial navigation system according to the position of the submarine. According to the submarine navigation method and the submarine navigation system based on the multi-dimensional gravity gradient lighthouse, the safety and accuracy of navigation of the gravity lighthouse in a gravity gentle region can be improved.

The invention discloses a scale value correction method applied to a shipborne gravimeter. The method comprises the following steps of establishing an error compensation correction model for observinga gravity value by taking the closed gravity data information of the shipborne gravimeter which goes to and from a port of embarkation and stops at a halfway port of recruit as a basic mathematical model, and carrying out error compensation on the observed gravity value; solving a scale value based on the corresponding relationship between the compensated gravity observation value and an absolutegravity value, and compensating the data of the shipborne gravimeter. The method can eliminate the system error caused by the scale value error, can obtain the high-precision voyage number survey result data, and has the important guiding value and practical significance for the marine geophysical survey, especially the marine gravity measurement of deep and far sea voyage numbers.

The invention discloses a method for improving ocean gravity reconstruction precision based on a geoid three-dimensional correction principle. The method comprises steps of a geoid and a global gravity field model being acquired; constructing a three-dimensional ocean gravity anomaly model according to the obtained geoid and global gravity field model; performing interpolation calculation on the three-dimensional ocean gravity anomaly model to obtain a geoid three-dimensional correction model; and according to the geoid three-dimensional correction model, determining a gravity abnormal value at an unknown point in the prediction area so as to improve the ocean gravity reconstruction precision. According to the statistical principle, prediction precision of the unknown point is improved byincreasing the amount of related information to optimize the estimated weight value, and precision loss is reduced to a large extent while the spatial resolution of the marine gravity reference map isimproved.

The invention relates to a method for extracting gravity anomaly by a marine gravity survey, which comprises the following steps: computing transient course and navigational speed, adopting right-angle coordinate data within 4 seconds to compute the course and the navigational speed at an intermediate time point, and filtering out high-frequency interference; reading a gravity meter, the navigational speed, the course, water depth and tide, firstly performing 9-point smoothing to filtering out partial high-frequency interference, and then performing correcting computation on items; extracting gravity anomaly values at 10 seconds intervals for first 9-point smoothing; extracting 10-second integral multiple of gravity anomaly values for secondary 9-point smoothing; obtaining a final result of the effective and reasonable gravity anomaly value, thus eliminating high-frequency interference and the gravity anomaly in close relationship with density distribution of earthcrust. The method provided by the invention is applied to studies such as lithosphere, earthcrust structure, oil gas accumulation, and density anomalous body.

The invention relates to marine gravity sampling equipment for scientific investigation. The marine gravity sampling equipment comprises a gravity sampling tube, a transfer structure and a lifting mechanism, wherein the transfer structure comprises a bracket, a rotary hanging bracket and an auxiliary rotary hanging bracket; the rotary hanging bracket and the auxiliary rotary hanging bracket are respectively arranged at the left end and the right end of a ship board at the same side; the head part of a tumbler of the rotary hanging bracket is hinged with the head part of the bracket via a hanger; a hoisting winch is arranged at the tail part of the tumbler of the auxiliary rotary hanging bracket; a wire rope on the hoisting winch passes through a pulley at the head part of the tumbler and the hanger hinged with the tail part of the bracket; the lifting mechanism comprises an n-shaped hanging bracket and a winch; the n-shaped hanging bracket is arranged at the right side of the hanging bracket; the bottom of the n-shaped hanging bracket is hinged with a ship board deck along the direction of the ship board; the pulley is arranged at the head part of a cross arm of the n-shaped hanging bracket; the winch is arranged on a ship body behind the n-shaped hanging bracket; a mooring rope wound on the winch is connected with a lifting head of the gravity sampling tube via the pulley.

A satellite altimetry gravity data and shipborne measurement gravity data fusion method disclosed by the present invention comprises the basic steps of determining a fitting radius by taking a shipborne measurement gravity data point as the center; calculating the weights of the satellite altimetry gravity data points within the range of the fitting radius; calculating the interpolation results ofthe satellite altimetry gravity data points at the shipborne measurement gravity data point; calculating the difference values between the interpolation results and the shipborne measurement gravitydata; according to the difference values and the weights, calculating the correction values of the satellite altimetry gravity data points; fusing and calculating to obtain the gravity fusion data. The method provided by the present invention has the advantages of being scientific and reasonable, being easy to realize, being high in precision, etc., and enables the precision of a marine gravity data fusion product to be improved by the satellite altimetry gravity data and shipborne measurement gravity data fusion.

The present invention concerns a method of processing marine gravity data and a processing apparatus for the same. According to the present invention, the processing method comprises obtaining an initial free-air anomaly per profile from raw data; obtaining a filtered free-air anomaly by filtering high-frequency components from the initial free-air anomaly; shifting free-air anomaly by correcting the filtered free-air anomaly based on a reference free-air anomaly; and showing a per-profile free-air anomaly using the reference corrected free-air anomaly.

The invention discloses a method for inverting submarine topography based on a satellite altimeter, and the method comprises the steps: obtaining geoid information and vertical line deviation information according to satellite height measurement data; constructing an ocean gravity anomaly model based on a neural network according to ocean gravity anomaly measurement data, satellite height measurement data of an observation sea area, the geoid information and the plumb line deviation information; acquiring ocean gravity anomaly data of the corresponding sea area through the ocean gravity anomaly model; taking the ocean gravity abnormal data, the average water depth and the maximum water depth of the corresponding sea area, and the density difference data of the crustal and the seawater as input data, and constructing a submarine topography inversion model based on a deep neural network; and through the submarine topography inversion model, extracting submarine topography related features in the input data, and inverting the submarine topography of the corresponding sea area. The problems that the spatial resolution of submarine topography inversion is low and the optimal density difference constant is difficult to determine are solved.

The invention discloses a three-component marine gravity measurement device. The device comprises a three-component marine gravimeter and a stabilization platform at the bottom of the three-componentmarine gravimeter; the bottom of the stabilization platform is provided with a dynamic balancing device; the three-component marine gravimeter includes an analog-to-digital conversion circuit and datastorage circuit assembly, a three-component gravity sensor and a three-component attitude sensor, wherein the analog-to-digital conversion circuit and data storage circuit assembly is arranged at theupper part of the interior of the gravimeter, the three-component gravity sensor is located at the middle of the interior of the gravimeter, and the three-component attitude sensor is located at thebottom of the interior of the gravimeter; and the top of the gravimeter is provided with a data display unit and signal indicating device assembly. The three-component marine gravity measurement device disclosed by the present invention has the advantages of small size, high sensitivity, low noise, short processing cycle, low manufacturing cost as well as high precision and good accuracy in measurement data. The bottom of the device is supported by the stabilization platform, so that the device has high stability; and the device has a strong capacity of resisting the horizontal disturbance acceleration and vertical disturbance acceleration of a ship and a strong anti-vibration capacity.

The invention discloses an automatic protection system of a marine gravimeter. The system comprises an early warning module and an active protection module. The early warning module comprises an active infrared early warning emitter 1, an infrared early warning receiver 1, an active infrared early warning emitter 2 and an infrared early warning receiver 2. The active protection module comprises an air damping mechanical arm 1 and an air damping mechanical arm 2, which are fixedly arranged on a marine gravimeter frame and are arranged oppositely. The early warning module and the active protection module are utilized to carry out all-around protection on a core component, that is, a gravity sensor, of the gravimeter. The system can carry out early warning and timely protection on emergency cases in the gravity measuring process, thereby making up the defect of un-timely response of manual watch, prolonging the service life of the device and greatly reducing economic losses.

The invention discloses a multi-source gravity data fusion method based on wavelet transform. Based on the satellite gravity data grid point, the gravity value of the ship measurement point coordinates is calculated by interpolation, and a variety of wavelet functions and multi-layer decomposition of the interpolation result and the ship measurement gravity data are completed based on the wavelettransform. The rich high-frequency information in the ship measurement gravity data is effectively extracted, and the low-frequency effective components of the satellite gravity data are reasonably extracted; the gravity fusion data of the ship measurement point coordinates is obtained through the established evaluation method, reasonable selection of the wavelet functions, the number of the decomposition layers, and wavelet transform; based on the fusion data and satellite scatter data, the data of the satellite scatter point position in the study area is obtained through re-interpolation, and the high precision marine gravity results data of the research area is reasonably obtained under the condition of both the accuracy and a fusion effect. The multi-source gravity data fusion method based on wavelet transform has high practical application value.

The invention discloses a self-iteration updating optimization algorithm for ocean gravity data. The algorithm comprises: firstly, establishing and processing an iteration updating model of an ocean gravity data real-time processing system; Processing ocean gravity observation data and ocean gravity database samples by adopting sample mean filtering; obtaining the normalized weight of the marine gravity observation data, analyzing and matching the mean filtering output results of the marine gravity observation data and the marine gravity database sample, and performing online estimation on themarine gravity data real-time processing system state at the next moment; Adding the filtering estimation result into an ocean gravity database, and updating the ocean gravity database in real time;And updating the iteration updating model parameters of the ocean gravity observation data at the next moment. The reliability of the ocean gravity data real-time processing system model and the modelparameter estimation precision are improved, the occasionality of ocean measurement data caused by tides, stormy waves, ocean currents and the like is overcome, and the stability of the system is enhanced.

The invention belongs to the field of geophysical measurement, and particularly discloses a marine gravity strip-shaped measurement method based on an unmanned platform. The invention discloses a method for carrying out strip-shaped measurement by utilizing the unmanned platform to obtain a gridding gravity / gravity anomaly graph in view of the problems of low efficiency, long time period and existence of time deviation which can affect the drawing of a global or regional gravity / gravity anomaly graph when a ship is designed to run a plurality of navigation routes for parallel measurement in common ship load gravity measurement, so that the drawing efficiency and precision are greatly improved, and the efficiency-cost ratio can also be improved to a certain extent. Through a designed instrument installation mode and a ship measurement and arrangement method, the purpose of acquiring a plurality of measuring lines and a plurality of cross points at one time can be achieved by being equivalent to a plurality of geophysical measurement ships sailing in parallel on the sea, and the determination of the marine gravity field is completed.

The invention relates to a submarine navigation method and system combining multi-beam sounding, a submarine is guided by an inertial navigation system to sail in a maneuvering manner, when the navigation error accumulation is large, a nearby gravity lighthouse is searched in a marine gravity lighthouse database, and the gravity characteristic information of a target lighthouse is extracted. The submarine floats to the position over the target lighthouse, the underwater unmanned autonomous AUV carrying the multi-beam depth finder is released, the terrain of the target lighthouse is scanned through multi-beam equipment of the underwater unmanned autonomous AUV, and terrain feature information is extracted. Due to the fact that the earth free space gravity abnormal amplitude distribution andthe topographic relief form are in a positive correlation relationship, actually collected topographic features and lighthouse features in a marine gravity lighthouse database are subjected to planarmatching, then coordinate information of the submarine is obtained, and inertial navigation system errors are corrected according to coordinates. By correcting the inertial navigation system, the navigation accuracy is improved.

The invention discloses an ocean pull-type low-resistance fixed-depth gravity and magnetic detection towed body, and belongs to the field of ocean gravity and magnetic force measurement. In order to reduce dragging resistance and simulate the shape of a torpedo in appearance, the device comprises a bow module, a main control cabin module, a hydrofoil cabin module, a load cabin module, a stern cabin module and a gravimeter cabin module, all the modules are fixedly connected through flanges, and the modules can be increased or decreased according to task requirements. The bow module is provided with a bearing head and a fixed connecting rod, the trailing cable and the bearing head are vulcanized together, and a mother ship drags the towed body to advance in water through the trailing cable. The main control cabin is provided with a control communication module used for receiving and transmitting towed body attitude control instructions. An antenna is arranged on the upper side of the hydrofoil cabin, a DVL is arranged on the lower side, and balance hydrofoils are symmetrically installed on the two sides of the gravimeter cabin module. The load cabin is provided with detection equipment, and the tail cabin module is provided with four empennages which are arranged in a crisscross manner. Modular design is adopted, assembling is convenient, dragging resistance is low, posture stability is good, the problem that in the prior art, the posture stability of a towed body is poor is solved, and expandability of the towed body is improved.

The invention discloses a V-H composite bearing capacity model test loading device and method. The test loading device comprises a horizontal loading system, a vertical loading system, a conversion system, a sensor and a bottom plate. The problem of vertical and horizontal combined loading in an existing marine foundation model test is solved. The test loading device has the following advantages that (1) convenience is achieved, specifically, the structure is simple, operation is convenient, and manpower is saved; (2) the application range is wide, specifically, the test loading device is suitable for most ocean gravity type and suction type foundation types, and the difficulty of model test research foundation V-H composite bearing capacity is greatly lowered; (3) repeatability is high, specifically, the test loading device can be repeatedly used for a composite loading test of a foundation; and (4) flexibility is high, specifically, combined application of vertical and horizontal loads can be well achieved, application of the vertical or horizontal loads can further be conducted independently, and application is flexible.

The invention provides a frequency domain method for inverting an ocean gravity gradient by using satellite altimetry data. The method comprises the steps of (1) calculating to obtain south-north vertical line deviation and east-west vertical line deviation according to altimetry satellite data; (2) obtaining radial disturbance gravity anomaly by means of the vertical line deviation derived from the altimetry satellite data, and calculating disturbance gravity anomaly in other directions by means of the south-north vertical line deviation and the east-west vertical line deviation; (3) carrying out Fourier transform calculation on the obtained disturbance gravity anomaly so as to obtain a Fourier transform calculation value of the disturbance gravity gradient in each direction under a spherical coordinate system; and (4) calculating the full-tensor gravity gradient through the Fourier transform calculation value of the disturbance gravity gradient. According to the invention, the full-tensor gravity gradient can be calculated according to the satellite altimetry data.

The invention discloses a vertical acceleration correction method for a gravimeter carried by an AUV. The method comprises the following steps: eliminating high-frequency vertical disturbance acceleration of the gravimeter carried by the AUV by using low-pass filtering, inhibiting low-frequency vertical disturbance acceleration of the gravimeter carried by the AUV by using mean filtering, and correcting noise that the vertical disturbance acceleration of the gravimeter carried by the AUV coincides with gravity anomaly on a frequency spectrum by using game filtering. The method can solve the problems that additional acceleration is caused and the measurement precision is low due to the fact that the gravimeter swings due to factors such as vibration of itself, sea waves and ocean currents when the gravimeter carried by the AUV is used for ocean gravity measurement; the ocean gravity measurement precision can be improved, and the method has high dynamic response capacity and robustness to external interference.

The invention relates to the technical field of ocean gravity measurement, in particular to a near-seabed gravity measuring device and a near-seabed gravity measuring method. The device comprises a submersible vehicle butt joint base, a relative gravimeter, a relative gravimeter carrying mechanism and an absolute gravimeter base station, wherein the submersible vehicle butt joint base is fixedly connected with a submersible vehicle, and is detachably connected with the relative gravimeter carrying mechanism, a relative gravimeter is fixed on the relative gravimeter carrying mechanism, the relative gravimeter carrying mechanism is detachably connected with the absolute gravimeter base station, and the absolute gravimeter base station is provided with an absolute gravimeter and relative gravimeter carrying mechanism butt joint base. The method comprises the step of realizing near-seabed gravity measurement by using the device. According to the invention, the device is less affected by stormy waves, can ensure the attitude stability, has enough time to realize standing stability, can directly finish reference point comparison underwater, and ensures the accuracy of measured data.