CN109212620A - Moving base rotating accelerometer gravity gradiometer error-compensating apparatus and method - Google Patents
Moving base rotating accelerometer gravity gradiometer error-compensating apparatus and method Download PDFInfo
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Abstract
The present invention discloses a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus and method, according to the angular movement of the gravity gradiometer of detection, line movement, attitude angle, the angular motion error of gravity gradiometer is calculated from gradient former based on gravity gradiometer analytic modell analytical model, line kinematic error, from gradient, and by angular motion error, line kinematic error, quadrature amplitude modulation is carried out from gradient, the signal before gravity gradiometer demodulation is compensated.The present invention not only compensates for the angular motion error in gravity gradiometer output signal, line kinematic error, from gradient, also solve gravity gradiometer angular movement, the problem of line movement, the gravity gradiometer front end conditioning circuit overvoltage caused by the gradient are damaged, and overvoltage is saturated.The compensated signal of gravity gradiometer is used for feedback regulation line kinematic error carry-over factor, and angular motion error carry-over factor, accelerometer scale factor being capable of the influence of the environmental factors to gravity gradiometer Transmitting error cofficient such as compensation temperature, magnetic field.
Description
Technical field
The present invention relates to a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus and methods, belong to precision
Field of measuring technique.
Background technique
The exploration of moving base gravity gradient is a kind of inexpensive, efficient gravity gradient exploitation method；Be at present in the world
State-of-the-art gravitational field explores mode.Gravity gradient data is widely used in geological analysis, gravitational field models, high-precision is navigated,
Resource exploration etc..Gravity gradiometer has extremely important national defence, civilian value.At present both at home and abroad in the gravity gradiometer master ground
There are cold atom gravity gradiometer, superconducting gravity gradiometer, MEMS gravity gradiometer etc..The weight of business application has been put into foreign countries
Force gradient instrument mainly has rotating accelerometer gravity gradiometer and rotation superconduction accelerometer gravity gradiometer.The gravity ladder in China
Degree instrument model machine is in development.
In the exploration of moving base gravity gradient, since there are installation errors, acceleration for the accelerometer inside gravity gradiometer
Degree meter single order, high-order scale factor mismatch, circuit gain mismatches etc., lead to the acceleration of gravity gradiometer, angular speed, angle
Acceleration is transmitted to the output of gravity gradiometer, causes measurement error.Gravity gradiometer line movement simultaneously, from gradient, angular movement
Gravity gradiometer analog signal processing overvoltage can be caused to be saturated or damage.The present invention provides one kind being capable of real-time compensation weight
Force gradient instrument line kinematic error, angular motion error, the device and method from gradient are moved currently without about gravity gradiometer line
The disclosed report of error, angular motion error real-time compensation apparatus and technology.
Summary of the invention
Technical problem: the present invention provides one kind and is capable of adding movement, angular movement, drawing from gradient for feedback compensation gravity gradiometer
The moving base rotating accelerometer gravity gradiometer error-compensating apparatus of the output measurement error risen, can inhibit temperature, electromagnetism
The influences of the environmental factors to Transmitting error cofficient such as field, while being also avoided that the acceleration, angular speed, angle of gravity gradiometer accelerate
The saturation of gravity gradiometer analog signal processing overvoltage caused by spending and overvoltage damage.Present invention simultaneously provides a kind of tools
The moving base rotating accelerometer gravity gradiometer error compensating method for having the above effect, solving problem above.
Technical solution: moving base rotating accelerometer gravity gradiometer error-compensating apparatus of the invention, comprising:
For generating the reference signal generation module of quadrature amplitude modulation carrier wave；
For be produced from real time gradient thermal compensation signal from gradient thermal compensation signal generation module；
For generating gravity gradiometer angular motion error thermal compensation signal in real time and detecting the angle of gravity gradiometer centrifiigation gradient
Kinematic error compensation signal generator module；
For finely tuning the angular motion error carry-over factor processing module of angular motion error carry-over factor in real time；
For generating the line kinematic error compensation signal generator module of gravity gradiometer line kinematic error compensation signal in real time；
Line kinematic error carry-over factor processing module for real-time trimming-wire kinematic error carry-over factor；
Output signal for the accelerometer to installation on a rotary disc sums, the gravity gradiometer of difference operation is asked to add
Speedometer signal processing module；
For adjusting the accelerometer scale factor adjustment module of accelerometer scale factor in real time；
For to angular motion error, line kinematic error is contained, the compensation compensated from the gravity gradient signal of gradient to be transported
Calculate module；
Gravity gradient signal for demodulating output gravity gradient signal from compensated gravity gradiometer signal restores mould
Block；
The output of the reference signal generation module is connected to from gradient thermal compensation signal generation module, angular motion error compensation
The input of signal generator module, line kinematic error compensation signal generator module；It is described to be transported from gradient thermal compensation signal generation module, angle
Dynamic error compensating signal generation module, line kinematic error compensation signal generator module, the processing of gravity gradiometer accelerometer signal
The output of module is connected to the input of compensation operation module；The output of the compensation operation module is connected to accelerometer scale system
Number adjustment module, angular motion error carry-over factor processing module, line kinematic error carry-over factor processing module, gravity gradient signal
The input of recovery module；The output of the line kinematic error carry-over factor processing module is connected to the production of line kinematic error compensation signal
The input of raw module；The output of the angular motion error carry-over factor processing module is connected to the generation of angular motion error thermal compensation signal
The input of module；The output of the accelerometer scale factor adjustment module is connected to the processing of gravity gradiometer accelerometer signal
The input of module.
Further, in apparatus of the present invention, the reference signal generation module includes that gravity gradiometer rotational circle dish axle is compiled
Code device and signal generator；The phase angle of the gravity gradiometer rotating circular disk shaft encoder detection gravity gradiometer disc rotary
φt, the signal generator is according to angle phit, generate quadrature amplitude modulation carrier wave wave sin φt, sin2 φt, cos φt,
cos2φt；
Further, in apparatus of the present invention, the angular motion error carry-over factor processing module includes that angular motion error passes
Pass coefficient initial value setup module and angular motion error carry-over factor adjustment module, the angular motion error carry-over factor initial value setting
Module is for being arranged angular motion error carry-over factor initial value:The angular motion error passes
It passs coefficient adjustment module and regulated quantity, fine tuning angular motion error transmitting system is generated according to the compensated gravity gradiometer signal of feedback
Number；There are two types of operating mode, shaping modes and non-item section modes for angular motion error carry-over factor processing module tool, when work is being adjusted
When section mode, angular motion error carry-over factor is adjusted in real time；When work is in non-regulated mode, angular motion error transmitting system is kept
It is constant.
Further, in apparatus of the present invention, the angular motion error thermal compensation signal generation module includes angular motion error
Carry-over factor input module, angular movement detection module, reference signal input module, compensation of angle movement signal generator module, centrifugation
Gradient detection module；
The angular motion error carry-over factor input module is for inputting angular motion error carry-over factor；The reference signal
Input module is for inputting quadrature amplitude modulation carrier wave；The angular movement detection module includes angular rate sensor and low-pass filtering
Device, for detecting the angular movement of gravity gradiometer；The angular rate sensor is mounted on the x of gravity gradiometer measurement coordinate system
Axis, y-axis, z-axis, the angular velocity omega of measurement gravity gradiometer measurement coordinate systemx, ωy, ωzAnd angular acceleration ωax, ωay, ωaz；
The low-pass filter then filters out angular speed, the high-frequency noise in angular acceleration signal；The compensation of angle movement signal generates mould
Root tuber generates angular motion error compensation letter according to quadrature amplitude modulation carrier wave, angular motion error carry-over factor, angular acceleration, angular speed
Number；There are two types of operating mode, calibration mode and non-calibration modes for the centrifiigation gradient detection module, under calibration mode, centrifugation
The centrifiigation gradient of gradient detection units output detection, under non-calibration mode, centrifiigation gradient detection unit is without output.
Further, in apparatus of the present invention, there are three types of Working moulds for the angular motion error thermal compensation signal generation module tool
Formula, non-compensation model, normal mode, calibration mode；Under non-compensation model, the angular motion error thermal compensation signal C of generationA(t) are as follows:
CA(t)=0；
In the normal mode, the angular motion error thermal compensation signal C of generationA(t) are as follows:
Under calibration mode, the angular motion error thermal compensation signal C of generationA(t) are as follows:
Sin2 φ in formulat, cos2 φt, sin φt, cos φtFor t moment input angle kinematic error compensation signal generator module
Quadrature amplitude modulation carrier wave；Indicate that t moment input angle kinematic error compensation signal produces
The angular motion error carry-over factor of raw module；ωx(t), ωy(t), ωz(t), ωax(t), ωay(t), ωaz(t) t moment is indicated
The angular move-ment signals of input angle kinematic error compensation signal generator module.
Further, in apparatus of the present invention, the line kinematic error carry-over factor processing module includes that line kinematic error passes
Pass coefficient initial value setup module and line kinematic error carry-over factor adjustment module, the line kinematic error carry-over factor initial value setting
Module is to be arranged line kinematic error carry-over factor initial value:The line
Kinematic error transmits poor coefficient adjustment module and generates regulated quantity and trimming-wire according to the compensated gravity gradiometer signal of feedback
Kinematic error carry-over factor；There are two types of operating mode, shaping modes and non-item sections for line kinematic error carry-over factor processing module tool
Mode adjusts line kinematic error carry-over factor when working in shaping modes in real time；When work is in non-regulated mode, line is transported
Dynamic error propagation system remains unchanged.
Further, in apparatus of the present invention, the line kinematic error compensation signal generator module includes line motion detection mould
Block, line kinematic error carry-over factor input module, reference signal input module, line motion compensation signal generation module, the line
Motion detection block includes accelerometer and low-pass filter, for detecting the acceleration of gravity gradiometer；The accelerometer
It is mounted on the x-axis of gravity gradiometer measurement coordinate system, y-axis, z-axis, the acceleration a of measurement gravity gradiometer measurement coordinate systemx, ay,
az；The low-pass filter then filters out the high-frequency noise in acceleration signal；The line kinematic error carry-over factor input module
For input line kinematic error carry-over factor；The reference signal generation module is for inputting quadrature amplitude modulation carrier wave；It is described
Line motion compensation signal generation module is transmitted according to the quadrature amplitude modulation carrier wave, acceleration signal, line kinematic error of input
Number generates line kinematic error compensation signal.
Further, in apparatus of the present invention, there are two types of operating modes for the line kinematic error compensation signal generator module tool:
Non- compensation model, compensation model；Under non-compensation model, the line motion compensation signal C of generationL(t) are as follows:
CL(t)=0；
Under compensation model, the line motion compensation signal C of generationL(t) are as follows:
Sin2 φ in formulat, cos2 φt, sin φt, cos φtFor t moment input line kinematic error compensation signal generator module
Quadrature amplitude modulation carrier wave；Indicate t moment input line kinematic error
The line kinematic error carry-over factor of thermal compensation signal generation module；ax(t), ay(t), az(t) t moment input line kinematic error is indicated
The acceleration signal of thermal compensation signal generation module.
Further, in apparatus of the present invention, the compensation operation module is exported according to from gradient thermal compensation signal generation module
From gradient thermal compensation signal, line kinematic error compensation signal generator module generate line kinematic error compensation signal, angular movement miss
The angular motion error thermal compensation signal that poor thermal compensation signal generation module generates produces gravity gradiometer accelerometer signal processing module
The raw output contained from gradient error, line kinematic error, angular motion error compensates.
Moving base rotating accelerometer gravity gradiometer error compensating method of the invention, comprising the following steps:
1) according to the work of the compensated gravity gradiometer signal of feedback and line kinematic error carry-over factor processing module
Mode calculates the line kinematic error carry-over factor of t moment:
Shaping modes:Non-regulated mode:
In formulaIndicate the line kinematic error carry-over factor of t moment,Indicate the line kinematic error carry-over factor at t-1 moment；gc(t-1)
Indicate t-1 moment compensated gravity gradiometer signal；F1(gc(t-1)) be t moment line kinematic error carry-over factor fine tuning
Amount, it is gc(t-1) function；
According to the compensated gravity gradiometer signal of feedback and the Working mould of angular motion error carry-over factor processing module
Formula calculates the angular motion error carry-over factor of t moment:
Shaping modes:Non-regulated mode:
In formulaIndicate the angular motion error carry-over factor of t moment,Indicate the angular motion error carry-over factor at t-1 moment；gc(t-1) the t-1 moment is indicated
Compensated gravity gradiometer signal；F2(gc(t-1)) amount trimmed of t moment angular motion error carry-over factor is indicated, it is gc
(t-1) function；The line kinematic error carry-over factor at t=0 momentAngle
Kinematic error carry-over factorObtained by calibration；
According to the compensated gravity gradiometer signal of feedback, the accelerometer scale factor of t moment is calculated:
In formulaIndicate installation four accelerometers on a rotary disc in the scale factor of t moment,Indicate four accelerometers of installation on a rotary disc in the scale factor at t-1 moment；gc(t-1) it indicates
T-1 moment compensated gravity gradiometer signal；F3(gc(t-1)) regulated quantity of t moment accelerometer scale factor is indicated, it
It is gc(t-1) function；
2) angle phi of the detection rotating accelerometer gravity gradiometer rotating circular disk in t momentt, calculating t moment just
Hand over amplitude-modulated carrier sin φt, sin2 φt, cos φt, cos2 φt；Detection rotation rotating accelerometer gravity gradiometer is in t
The acceleration a at momentx(t), ay(t), az(t)；Detection rotating accelerometer gravity gradiometer adds in the angular speed of t moment and angle
Speed omegax(t), ωy(t), ωz(t), ωax(t), ωay(t), ωaz(t)；
3 class line kinematic error compensation signal C of t moment are calculated according to the following formulaL1(t), CL2(t), CL3(t):
3 class angular motion error thermal compensation signal C of t moment are calculated according to the following formulaA1(t), CA2(t), CA3(t):
3) according to the operating mode of line kinematic error compensation signal generator module, total line kinematic error of t moment is calculated
Thermal compensation signal CL(t):
When non-compensation model, CL(t)=0；
When compensation model, CL(t)=CL1(t)+CL2(t)+CL3(t)；
According to the operating mode of angular motion error thermal compensation signal generation module, the total angular motion error compensation of t moment is calculated
Signal CA(t):
When non-compensation model, CA(t)=0；
When normal mode, CA(t)=CA1(t)+CA2(t)+CA3(t)；
When calibration mode, CA(t)=CA2(t)+CA3(t)；
According to the operating mode from gradient thermal compensation signal generation module, calculate t moment from gradient thermal compensation signal Csg(t):
When compensation model,
In non-compensation model, Csg(t)=0；
In formulaIt is the attitude angle of t moment gravity gradiometer, P is the parameter from gradient former,It is
Output from the channel inline of gradient former, it is the function of attitude angle,It is the cross from gradient former
The output in channel, it is the function of attitude angle；
4) to t moment containing wired kinematic error, angular motion error, from the gravity gradiometer signal g (t) of gradient, under
Formula carries out line kinematic error compensation, angular motion error compensation, compensates from gradient；
gc(t)=g (t)-CL(t)-Csg(t)-CA(t)
G in formulacIt (t) is the compensated gravity gradiometer signal of t moment, g (t) is that t moment is transported containing wired kinematic error, angle
Dynamic error, the gravity gradiometer signal from gradient, CL(t) be t moment line kinematic error compensation signal, CsgIt (t) is from gradient
Thermal compensation signal, CAIt (t) is angular motion error thermal compensation signal.
In the exploration of moving base gravity gradient, since there are installation errors, acceleration for the accelerometer inside gravity gradiometer
Degree meter single order, high-order scale factor mismatch, circuit gain mismatches etc., lead to the acceleration of gravity gradiometer, angular speed, angle
Acceleration is transmitted to the output of gravity gradiometer, causes measurement error, furthermore the line kinematic error carry-over factor of gravity gradiometer,
Angular motion error carry-over factor is easy to be influenced by environmental factors such as temperature, electromagnetic fields.The acceleration of gravity gradiometer simultaneously, angle
Speed, gravity gradiometer analog signal processing overvoltage can be caused to be saturated for angular acceleration or overvoltage is damaged, energy of the present invention
Enough solve problem above.
The utility model has the advantages that compared with prior art, the present invention having the advantage that
The present invention be provide for the first time rotating accelerometer gravity gradiometer line kinematic error, angular motion error, from gradient reality
When compensation device and method.The present invention provide one kind can to gravity gradiometer line kinematic error, angular motion error, from gradient into
The device and method of row real-time compensation, it finely tunes angular motion error according to the compensated gravity gradiometer signal of feedback in real time and passes
Coefficient, line kinematic error carry-over factor, accelerometer scale factor are passed, it is such as warm that gravity gradiometer environmental factor can be offset
The influence to gravity gradiometer line kinematic error carry-over factor, angular motion error carry-over factor, scale factor such as degree, magnetic field, energy
The movement of gravity gradiometer line, angular movement, the measurement error caused by the gradient are enough compensated, the measurement accuracy of gravity gradiometer is improved.
Meanwhile quadrature amplitude modulation, direct compensation have been carried out to gravity gradiometer line kinematic error, angular motion error, from gradient signal
Signal before gravity gradiometer demodulation, therefore the front end due to caused by gravity gradiometer acceleration, angular speed etc. can also be solved
Signal conditioning circuit overvoltage saturation, overvoltage damage problem.
Detailed description of the invention
A kind of rotating accelerometer gravity gradiometer real-time error compensation schematic diagram of device of Fig. 1.
Fig. 2 reference signal generation module schematic diagram.
Fig. 3 line kinematic error carry-over factor processing module and angular motion error carry-over factor processing module schematic diagram.
Fig. 4 angular motion error thermal compensation signal generation module and line kinematic error compensation signal generator module schematic diagram.
Fig. 5 angular speed rate sensor, accelerometer scheme of installation.
Specific embodiment
The present invention is further described below with reference to embodiment and Figure of description.
As shown in Figure 1, a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus of the present invention, comprising: use
In the reference signal generation module for generating quadrature amplitude modulation carrier wave；For being produced from mending from gradient for gradient thermal compensation signal in real time
Repay signal generator module；Angular motion error thermal compensation signal for generating gravity gradiometer angular motion error thermal compensation signal in real time produces
Raw module, the module can also detect the centrifiigation gradient of gravity gradiometer sensitivity；For finely tuning angular motion error carry-over factor in real time
Angular motion error carry-over factor processing module；Line for generating gravity gradiometer line kinematic error compensation signal in real time moves
Error compensating signal generation module；Line kinematic error carry-over factor for real-time trimming-wire kinematic error carry-over factor handles mould
Block；For to installation accelerometer on a rotary disc output signal summation, seek the gravity gradiometer acceleration of difference operation
Count signal processing module；For adjusting the accelerometer scale factor adjustment module of accelerometer scale factor in real time；For right
Contain angular motion error, line kinematic error, the compensation operation module compensated from the gravity gradient signal of gradient；For from benefit
The gravity gradient signal recovery module of gravity gradiometer signal demodulation output gravity gradient signal after repaying；
The output of the reference signal generation module is connected to from gradient thermal compensation signal generation module, angular motion error compensation
The input of signal generator module, line kinematic error compensation signal generator module；It is described to be transported from gradient thermal compensation signal generation module, angle
Dynamic error compensating signal generation module, line kinematic error compensation signal generator module, the processing of gravity gradiometer accelerometer signal
The output of module is connected to the input of compensation operation module；The output of the compensation operation module is connected to accelerometer scale system
Number adjustment module, angular motion error carry-over factor processing module, line kinematic error carry-over factor processing module, gravity gradient signal
The input of recovery module；The output of the line kinematic error carry-over factor processing module is connected to the production of line kinematic error compensation signal
The input of raw module；The output of the angular motion error carry-over factor processing module is connected to the generation of angular motion error thermal compensation signal
The input of module；The output of the accelerometer scale factor adjustment module is connected to the processing of gravity gradiometer accelerometer signal
The input of module.
As shown in Fig. 2, the reference signal generation module includes gravity gradiometer rotating circular disk shaft encoder and signal hair
Raw device；The angle phi of the gravity gradiometer rotating circular disk shaft encoder detection gravity gradiometer disc rotaryt, the signal
Generator is according to angle phit, generate quadrature amplitude modulation carrier wave wave sin φt, sin2 φt, cos φt, cos2 φt；
As shown in Fig. 3 (a), the angular motion error carry-over factor processing module, by angular motion error carry-over factor initial value
Setup module, angular motion error carry-over factor adjustment module composition；The angular motion error carry-over factor initial value setup module is used
In setting angular motion error carry-over factor initial value:The angular motion error transmitting difference system
Number adjustment module generates regulated quantity according to the compensated gravity gradiometer signal of feedback, finely tunes angular motion error carry-over factor；
There are two types of operating mode, shaping modes and non-item section modes for angular motion error carry-over factor processing module tool, when work is being adjusted
When mode, angular motion error carry-over factor is adjusted in real time；When work is in non-regulated mode, angular motion error transmitting system is kept not
Become.
As shown in Fig. 4 (b), the angular motion error thermal compensation signal generation module is inputted by angular motion error carry-over factor
Module, angular movement detection module, reference signal input module, compensation of angle movement signal generator module, centrifiigation gradient detection module
Composition；The angular motion error carry-over factor input module is for inputting angular motion error carry-over factor；The reference signal is defeated
Enter module for inputting quadrature amplitude modulation carrier wave；The angular movement detection module is by angular rate sensor and low-pass filter group
At for detecting the angular movement of gravity gradiometer；As shown in figure 5, the angular rate sensor is mounted on gravity gradiometer measurement
The x-axis of coordinate system, y-axis, z-axis, the angular velocity omega of measurement gravity gradiometer measurement coordinate systemx, ωy, ωzAnd angular acceleration ωax,
ωay, ωaz；The low-pass filter then filters out angular speed, the high-frequency noise in angular acceleration signal；The angular motion error produces
Raw module generates angular motion error according to quadrature amplitude modulation carrier wave, angular motion error carry-over factor, angular acceleration, angular speed
Thermal compensation signal；The centrifiigation gradient detection module, there are two types of operating mode, calibration mode and non-calibration modes, in calibration mode
Under, the centrifiigation gradient of centrifiigation gradient detection unit output detection, under non-calibration mode, centrifiigation gradient detection unit is without output；.
The angular motion error thermal compensation signal generation module has there are three types of operating mode, non-compensation model, normal mode,
Calibration mode；Under non-compensation model, the angular motion error thermal compensation signal C of generationA(t) are as follows:
CA(t)=0；
In the normal mode, the angular motion error thermal compensation signal C of generationA(t) are as follows:
It is demarcating
Under mode, the angular motion error thermal compensation signal C of generationA(t) are as follows:
Sin2 φ in formulat, cos2 φt, sin φt, cos φtFor t moment input angle kinematic error compensation signal generator module
Quadrature amplitude modulation carrier wave；Indicate that t moment input angle kinematic error compensation signal produces
The angular motion error carry-over factor of raw module；ωx(t), ωy(t), ωz(t), ωax(t), ωay(t), ωaz(t) t moment is indicated
The angular move-ment signals of input angle kinematic error compensation signal generator module；
As shown in Fig. 3 (b), the line kinematic error carry-over factor processing module, by line kinematic error carry-over factor initial value
Setup module, line kinematic error carry-over factor adjustment module composition；The line kinematic error carry-over factor initial value setup module, if
Set line kinematic error carry-over factor initial value:The line kinematic error passes
Successive difference coefficient adjustment module generates regulated quantity according to the compensated gravity gradiometer signal of feedback, and trimming-wire kinematic error passes
Pass coefficient；There are two types of operating mode, shaping modes and non-item section modes for line kinematic error carry-over factor processing module tool, work as work
In shaping modes, line kinematic error carry-over factor is adjusted in real time；When work is in non-regulated mode, line kinematic error transmits system
It remains unchanged；
As shown in Fig. 4 (a), the line kinematic error compensation signal generator module is missed by line motion detection block, line movement
Poor carry-over factor input module, reference signal input module, composition；The line motion detection block is by accelerometer, low pass filtered
Wave device composition, for detecting the acceleration of gravity gradiometer；As shown in figure 5, the accelerometer is mounted on gravity gradiometer survey
Measure the x-axis of coordinate system, y-axis, z-axis, the acceleration a of measurement gravity gradiometer measurement coordinate systemx, ay, az；The low-pass filter
Then filter out the high-frequency noise in acceleration signal；The line kinematic error carry-over factor input module is missed for input line movement
Poor carry-over factor；The reference signal generation module is for inputting quadrature amplitude modulation carrier wave；The line motion compensation signal produces
Quadrature amplitude modulation carrier wave of the raw module according to input, acceleration signal, line kinematic error carry-over factor generate line kinematic error
Thermal compensation signal.
There are two types of operating modes: non-compensation model, compensation model for the line kinematic error compensation signal generator module tool；It is non-
Under compensation model, the line motion compensation signal C of generationL(t) are as follows:
CL(t)=0；
Under compensation model, the line motion compensation signal C of generationL(t) are as follows:
Sin2 φ in formulat, cos2 φt, sin φt, cos φtFor t moment input line kinematic error compensation signal generator module
Quadrature amplitude modulation carrier wave；Indicate t moment input line kinematic error
The line kinematic error carry-over factor of thermal compensation signal generation module；ax(t), ay(t), az(t) t moment input line kinematic error is indicated
The acceleration signal of thermal compensation signal generation module.
The compensation operation module, according to from gradient thermal compensation signal generation module export from gradient thermal compensation signal, line fortune
The line kinematic error compensation signal that dynamic error compensating signal generation module generates, angular motion error thermal compensation signal generation module generate
Angular motion error thermal compensation signal, to gravity gradiometer accelerometer signal processing module generate containing from gradient error, line
The output of kinematic error, angular motion error compensates；
A kind of moving base rotating accelerometer gravity gradiometer error compensating method of the invention, comprising the following steps:
1) according to the work of the compensated gravity gradiometer signal of feedback and line kinematic error carry-over factor processing module
Mode calculates the line kinematic error carry-over factor of t moment:
Shaping modes:Non-regulated mode:
In formulaIndicate the line kinematic error carry-over factor of t moment,Indicate the line kinematic error carry-over factor at t-1 moment；gc(t-1)
Indicate t-1 moment compensated gravity gradiometer signal；F1(gc(t-1)) be t moment line kinematic error carry-over factor fine tuning
Amount, it is gc(t-1) function；
According to the compensated gravity gradiometer signal of feedback and the Working mould of angular motion error carry-over factor processing module
Formula calculates the angular motion error carry-over factor of t moment:
Shaping modes:Non-regulated mode:
In formulaIndicate the angular motion error carry-over factor of t moment,Indicate the angular motion error carry-over factor at t-1 moment；gc(t-1) the t-1 moment is indicated
Compensated gravity gradiometer signal；F2(gc(t-1)) amount trimmed of t moment angular motion error carry-over factor is indicated, it is gc
(t-1) function；The line kinematic error carry-over factor at t=0 momentAngle
Kinematic error carry-over factorIt is obtained by calibration；
According to the compensated gravity gradiometer signal of feedback, the accelerometer scale factor of t moment is calculated:
In formulaIndicate installation four accelerometers on a rotary disc in the scale factor of t moment,Indicate four accelerometers of installation on a rotary disc in the scale factor at t-1 moment；gc(t-1) it indicates
T-1 moment compensated gravity gradiometer signal；F3(gc(t-1)) regulated quantity of t moment accelerometer scale factor is indicated, it
It is gc(t-1) function；
2) angle phi of the detection rotating accelerometer gravity gradiometer rotating circular disk in t momentt, calculating t moment just
Hand over amplitude-modulated carrier sin φt, sin2 φt, cos φt, cos2 φt；Detection rotation rotating accelerometer gravity gradiometer is in t
The acceleration a at momentx(t), ay(t), az(t)；Detection rotating accelerometer gravity gradiometer adds in the angular speed of t moment and angle
Speed omegax(t), ωy(t), ωz(t), ωax(t), ωay(t), ωaz(t)；
3 class line kinematic error compensation signal C of t moment are calculated according to the following formulaL1(t), CL2(t), CL3(t):
3 class angular motion error thermal compensation signal C of t moment are calculated according to the following formulaA1(t), CA2(t), CA3(t):
3) according to the operating mode of line kinematic error compensation signal generator module, total line kinematic error of t moment is calculated
Thermal compensation signal CL(t):
When non-compensation model, CL(t)=0；
When compensation model, CL(t)=CL1(t)+CL2(t)+CL3(t)；
According to the operating mode of angular motion error thermal compensation signal generation module, the total angular motion error compensation of t moment is calculated
Signal CA(t):
When non-compensation model, CA(t)=0；
When normal mode, CA(t)=CA1(t)+CA2(t)+CA3(t)；
When calibration mode, CA(t)=CA2(t)+CA3(t)；
According to the operating mode from gradient thermal compensation signal generation module, calculate t moment from gradient thermal compensation signal Csg(t):
When compensation model,
In non-compensation model, Csg(t)=0；
In formulaIt is the attitude angle of t moment gravity gradiometer, P is the parameter from gradient former,It is
Output from the channel inline of gradient former, it is the function of attitude angle,It is the cross from gradient former
The output in channel, it is the function of attitude angle；
4) to t moment containing wired kinematic error, angular motion error, from the gravity gradiometer signal g (t) of gradient, under
Formula carries out line kinematic error compensation, angular motion error compensation, compensates from gradient；
gc(t)=g (t)-CL(t)-Csg(t)-CA(t)
G in formulacIt (t) is the compensated gravity gradiometer signal of t moment, g (t) is that t moment is transported containing wired kinematic error, angle
Dynamic error, the gravity gradiometer signal from gradient, CL(t) be t moment line kinematic error compensation signal, CsgIt (t) is from gradient
Thermal compensation signal, CAIt (t) is angular motion error thermal compensation signal.
Claims (10)
1. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus, which is characterized in that the device includes:
For generating the reference signal generation module of quadrature amplitude modulation carrier wave；
For be produced from real time gradient thermal compensation signal from gradient thermal compensation signal generation module；
For generating gravity gradiometer angular motion error thermal compensation signal in real time and detecting the angular movement of gravity gradiometer centrifiigation gradient
Error compensating signal generation module；
For finely tuning the angular motion error carry-over factor processing module of angular motion error carry-over factor in real time；
For generating the line kinematic error compensation signal generator module of gravity gradiometer line kinematic error compensation signal in real time；
Line kinematic error carry-over factor processing module for real-time trimming-wire kinematic error carry-over factor；
For to installation accelerometer on a rotary disc output signal summation, seek the gravity gradiometer acceleration of difference operation
Count signal processing module；
For adjusting the accelerometer scale factor adjustment module of accelerometer scale factor in real time；
For to containing angular motion error, line kinematic error, the compensation operation mould compensated from the gravity gradient signal of gradient
Block；
For demodulating the gravity gradient signal recovery module of output gravity gradient signal from compensated gravity gradiometer signal；
The output of the reference signal generation module is connected to from gradient thermal compensation signal generation module, angular motion error thermal compensation signal
The input of generation module, line kinematic error compensation signal generator module；It is described to be missed from gradient thermal compensation signal generation module, angular movement
Poor thermal compensation signal generation module, line kinematic error compensation signal generator module, gravity gradiometer accelerometer signal processing module
Output be connected to the input of compensation operation module；The output of the compensation operation module is connected to accelerometer scale factor tune
Module, angular motion error carry-over factor processing module, line kinematic error carry-over factor processing module, gravity gradient signal is saved to restore
The input of module；The output of the line kinematic error carry-over factor processing module is connected to line kinematic error compensation signal and generates mould
The input of block；The output of the angular motion error carry-over factor processing module is connected to angular motion error thermal compensation signal generation module
Input；The output of the accelerometer scale factor adjustment module is connected to gravity gradiometer accelerometer signal processing module
Input.
2. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as described in claim 1, feature exist
In: the reference signal generation module includes gravity gradiometer rotating circular disk shaft encoder and signal generator；The gravity ladder
Spend the angle phi of instrument rotating circular disk shaft encoder detection gravity gradiometer disc rotaryt, the signal generator is according to phase
Angle φt, generate quadrature amplitude modulation carrier wave wave sin φt, sin2 φt, cos φt, cos2 φt。
3. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as described in claim 1, feature exist
In: the angular motion error carry-over factor processing module includes that angular motion error carry-over factor initial value setup module and angular movement miss
Poor carry-over factor adjustment module, the angular motion error carry-over factor initial value setup module is for being arranged angular motion error transmitting system
Number initial value:The angular motion error carry-over factor adjustment module is according to the compensation of feedback
Gravity gradiometer signal afterwards generates regulated quantity, finely tunes angular motion error carry-over factor；Angular motion error carry-over factor handles mould
There are two types of block tools operating mode, shaping modes and non-item section mode adjust angular motion error when working in shaping modes in real time
Carry-over factor；When work is in non-regulated mode, angular motion error transmitting system is remained unchanged.
4. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as claimed in claim 1,2 or 3, special
Sign is: the angular motion error thermal compensation signal generation module includes angular motion error carry-over factor input module, angular movement
Detection module, reference signal input module, compensation of angle movement signal generator module, centrifiigation gradient detection module；
The angular motion error carry-over factor input module is for inputting angular motion error carry-over factor；The reference signal input
Module is for inputting quadrature amplitude modulation carrier wave；The angular movement detection module includes angular rate sensor and low-pass filter,
For detecting the angular movement of gravity gradiometer；The angular rate sensor is mounted on the x-axis of gravity gradiometer measurement coordinate system, y
Axis, z-axis, the angular velocity omega of measurement gravity gradiometer measurement coordinate systemx, ωy, ωzAnd angular acceleration ωax, ωay, ωaz；It is described
Low-pass filter then filters out angular speed, the high-frequency noise in angular acceleration signal；The compensation of angle movement signal generator module root
Angular motion error thermal compensation signal is generated according to quadrature amplitude modulation carrier wave, angular motion error carry-over factor, angular acceleration, angular speed；
There are two types of operating mode, calibration mode and non-calibration modes for the centrifiigation gradient detection module, under calibration mode, centrifiigation gradient
The centrifiigation gradient of detection unit output detection, under non-calibration mode, centrifiigation gradient detection unit is without output.
5. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as claimed in claim 1,2 or 3, special
Sign is: the angular motion error thermal compensation signal generation module has there are three types of operating mode, non-compensation model, normal mode,
Calibration mode；Under non-compensation model, the angular motion error thermal compensation signal C of generationA(t) are as follows:
CA(t)=0；
In the normal mode, the angular motion error thermal compensation signal C of generationA(t) are as follows:
Under calibration mode, the angular motion error thermal compensation signal C of generationA(t) are as follows:
Sin2 φ in formulat, cos2 φt, sin φt, cos φtJust for t moment input angle kinematic error compensation signal generator module
Hand over amplitude-modulated carrier；Indicate that t moment input angle kinematic error compensation signal generates mould
The angular motion error carry-over factor of block；ωx(t), ωy(t), ωz(t), ωax(t), ωay(t), ωaz(t) t moment input is indicated
The angular move-ment signals of angular motion error thermal compensation signal generation module.
6. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as claimed in claim 1,2 or 3, special
Sign is: the line kinematic error carry-over factor processing module includes line kinematic error carry-over factor initial value setup module and line fortune
Dynamic Transmitting error cofficient adjustment module, the line kinematic error carry-over factor initial value setup module are passed line kinematic error is arranged
Pass coefficient initial value:The line kinematic error transmits poor coefficient adjustment mould
Root tuber generates regulated quantity and trimming-wire kinematic error carry-over factor according to the compensated gravity gradiometer signal of feedback；Line movement misses
There are two types of operating mode, shaping modes and non-item section modes for poor carry-over factor processing module tool, when working in shaping modes, in fact
When adjust line kinematic error carry-over factor；When work is in non-regulated mode, line kinematic error transmitting system is remained unchanged.
7. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as claimed in claim 1,2 or 3, special
Sign is: the line kinematic error compensation signal generator module includes that line motion detection block, line kinematic error carry-over factor are defeated
Enter module, reference signal input module, line motion compensation signal generation module, the line motion detection block includes accelerometer
And low-pass filter, for detecting the acceleration of gravity gradiometer；The accelerometer is mounted on gravity gradiometer measurement coordinate
The x-axis of system, y-axis, z-axis, the acceleration a of measurement gravity gradiometer measurement coordinate systemx, ay, az；The low-pass filter then filters out
High-frequency noise in acceleration signal；The line kinematic error carry-over factor input module is for input line kinematic error transmitting system
Number；The reference signal generation module is for inputting quadrature amplitude modulation carrier wave；The line motion compensation signal generation module root
Line kinematic error compensation signal is generated according to the quadrature amplitude modulation carrier wave of input, acceleration signal, line kinematic error carry-over factor.
8. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as claimed in claim 1,2 or 3, special
Sign is: there are two types of operating modes: non-compensation model, compensation model for the line kinematic error compensation signal generator module tool；It is non-
Under compensation model, the line motion compensation signal C of generationL(t) are as follows:
CL(t)=0；
Under compensation model, the line motion compensation signal C of generationL(t) are as follows:
Sin2 φ in formulat, cos2 φt, sin φt, cos φtJust for t moment input line kinematic error compensation signal generator module
Hand over amplitude-modulated carrier；Indicate t moment input line kinematic error compensation
The line kinematic error carry-over factor of signal generator module；ax(t), ay(t), az(t) t moment input line kinematic error compensation is indicated
The acceleration signal of signal generator module.
9. a kind of moving base rotating accelerometer gravity gradiometer error-compensating apparatus as claimed in claim 1,2 or 3, special
Sign is: the compensation operation module is moved according to what is exported from gradient thermal compensation signal generation module from gradient thermal compensation signal, line
Line kinematic error compensation signal, the angular motion error thermal compensation signal generation module of error compensating signal generation module generation generate
Angular motion error thermal compensation signal contains to what gravity gradiometer accelerometer signal processing module generated from gradient error, line fortune
The output of dynamic error, angular motion error compensates.
10. a kind of moving base rotating accelerometer gravity gradiometer error compensating method, which is characterized in that this method includes following
Step:
1) according to the compensated gravity gradiometer signal of feedback and the operating mode of line kinematic error carry-over factor processing module,
Calculate the line kinematic error carry-over factor of t moment:
Shaping modes:Non-regulated mode:
In formulaIndicate the line kinematic error carry-over factor of t moment,Indicate the line kinematic error carry-over factor at t-1 moment；gc(t-1)
Indicate t-1 moment compensated gravity gradiometer signal；F1(gc(t-1)) be t moment line kinematic error carry-over factor fine tuning
Amount, it is gc(t-1) function；
According to the compensated gravity gradiometer signal of feedback and the operating mode of angular motion error carry-over factor processing module, meter
Calculate the angular motion error carry-over factor of t moment:
Shaping modes:Non-regulated mode:
In formulaIndicate the angular motion error carry-over factor of t moment,Indicate the angular motion error carry-over factor at t-1 moment；gc(t-1) the t-1 moment is indicated
Compensated gravity gradiometer signal；F2(gc(t-1)) amount trimmed of t moment angular motion error carry-over factor is indicated, it is gc
(t-1) function；The line kinematic error carry-over factor at t=0 moment
Angular motion error carry-over factorObtained by calibration；
According to the compensated gravity gradiometer signal of feedback, the accelerometer scale factor of t moment is calculated:
In formulaIndicate installation four accelerometers on a rotary disc in the scale factor of t moment,Indicate four accelerometers of installation on a rotary disc in the scale factor at t-1 moment；gc(t-1) it indicates
T-1 moment compensated gravity gradiometer signal；F3(gc(t-1)) regulated quantity of t moment accelerometer scale factor is indicated, it
It is gc(t-1) function；
2) angle phi of the detection rotating accelerometer gravity gradiometer rotating circular disk in t momentt, calculate the quadrature amplitude of t moment
Modulate carrier wave sin φt, sin2 φt, cos φt, cos2 φt；Detection rotation rotating accelerometer gravity gradiometer is in t moment
Acceleration ax(t), ay(t), az(t)；Rotating accelerometer gravity gradiometer is detected in the angular speed and angular acceleration ω of t momentx
(t), ωy(t), ωz(t), ωax(t), ωay(t), ωaz(t)；
3 class line kinematic error compensation signal C of t moment are calculated according to the following formulaL1(t), CL2(t), CL3(t):
3 class angular motion error thermal compensation signal C of t moment are calculated according to the following formulaA1(t), CA2(t), CA3(t):
3) according to the operating mode of line kinematic error compensation signal generator module, total line kinematic error compensation of t moment is calculated
Signal CL(t):
When non-compensation model, CL(t)=0；
When compensation model, CL(t)=CL1(t)+CL2(t)+CL3(t)；
According to the operating mode of angular motion error thermal compensation signal generation module, the total angular motion error thermal compensation signal C of t moment is calculatedA
(t):
When non-compensation model, CA(t)=0；
When normal mode, CA(t)=CA1(t)+CA2(t)+CA3(t)；
When calibration mode, CA(t)=CA2(t)+CA3(t)；
According to the operating mode from gradient thermal compensation signal generation module, calculate t moment from gradient thermal compensation signal Csg(t):
When compensation model,
In non-compensation model, Csg(t)=0；
In formulaIt is the attitude angle of t moment gravity gradiometer, P is the parameter from gradient former,It is from ladder
The output in the channel inline of model is spent, it is the function of attitude angle,It is the channel cross from gradient former
Output, it is the function of attitude angle；
4) to t moment containing wired kinematic error, angular motion error, from the gravity gradiometer signal g (t) of gradient, according to the following formula into
Line kinematic error compensation, angular motion error compensation are compensated from gradient；
gc(t)=g (t)-CL(t)-Csg(t)-CA(t)
G in formulacIt (t) is the compensated gravity gradiometer signal of t moment, g (t) is that t moment is missed containing wired kinematic error, angular movement
Difference, from the gravity gradiometer signal of gradient, CL(t) be t moment line kinematic error compensation signal, CsgIt (t) is compensated from gradient
Signal, CAIt (t) is angular motion error thermal compensation signal.
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| CN114137447A (en) * | 2022-02-07 | 2022-03-04 | 西南民族大学 | Method and device for compensating swing noise of magnetic gradiometer, electronic device and storage medium |
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