CN112415634B - Dynamic gravimeter zero drift compensation method based on satellite gravity anomaly information - Google Patents
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Abstract
The invention discloses a dynamic relative gravimeter zero drift compensation method based on satellite gravity anomaly information, which comprises the following steps: (1) measuring operation is carried out based on the dynamic relative gravimeter according to operation rules and data are processed to obtain gravity anomaly information on a measuring line(2) Analyzing to obtain the average value of the dynamic gravity anomaly output by the gravimeter on a single measuring line(3) Obtaining gravity anomaly information output by satellite gravity at different positions of survey line by interpolation method using satellite gravity informationAnd averaging the values(4) Gravity anomaly information output by satellite gravityCalibrating gravity anomaly information output by the near-surface relative gravimeter to obtainAiming at the problem that the zero position of the dynamic relative gravity sensor has nonlinear drift, the zero position of the dynamic relative gravity meter is calibrated by using the satellite gravity abnormal information on the survey line, so that the system difference is reduced, and the dynamic gravity measurement precision is effectively improved.
Description
Technical Field
The invention relates to the field of dynamic relative gravimeter compensation, in particular to a zero drift compensation method for a dynamic relative gravimeter based on satellite gravity anomaly information.
Background
The gravity anomaly is an important component of geophysical field information, is a core element of the gravity field environment information, and has important significance in the fields of resource exploration, geophysical research, battlefield environment construction, underwater autonomous navigation, weapon precision striking and the like. The gravity field measurement has various means, but in contrast, the main way to obtain high-precision, high-spatial resolution and large-range gravity field information is still near-surface dynamic relative gravity measurement.
In the prior art, the dynamic relative gravimeter, the free space gravity anomaly δ g can be obtained by deformation of the inertial navigation ratio equation:
in the formula,representing the original gravity in units of 10-5m/s2(ii) a Gamma denotes normal gravity in units of 10-5m/s2;Indicating the vertical acceleration of the carrier, and also being expressed asUnit 10-5m/s2;Indicating an Hertefss correction, calculated from external navigation information, unit 10-5m/s2. In the data processing process, vertical acceleration correction, Hertefis correction and normal gravity field correction are carried out by means of GNSS satellite navigation information; in addition, it is generally considered that the vertical acceleration can be eliminated by low-pass filtering in the shipborne gravity measurementThe influence of (c).
In the measuring process, the zero drift of the gravity sensor can cause the overall deviation of the measured data to form a system difference. In order to inhibit the zero drift of the gravity sensor, the traditional method is to improve the stability of the output signal of the sensor, the temperature control precision, the shock absorption efficiency of the shock absorber and other measures, but the method can make the system more complicated and reduce the reliability, increase the volume and the cost of the system, and the inhibition effect cannot completely meet the application requirement.
Considering that the current dynamic relative gravimeter is limited by the technology level and the electronic circuit technology, the zero drift problem can not be solved in principle, and the zero drift can only be inhibited by measures of improving the temperature control precision, the shock absorption efficiency of the shock absorber and the like as far as possible. Therefore, a new method is urgently needed to be designed, so that the zero drift relative to the gravity meter is restrained, and the system difference is reduced, so that the aim of improving the dynamic gravity measurement precision is fulfilled.
Disclosure of Invention
The invention provides a zero drift compensation method of a dynamic relative gravity meter based on satellite gravity abnormal information, which aims at the problem that the zero of a dynamic relative gravity sensor has nonlinear drift and utilizes the satellite gravity abnormal information on a survey line to calibrate the zero of the dynamic relative gravity meter, and can effectively reduce system difference and improve the dynamic gravity measurement precision.
The invention is realized by adopting the following technical scheme: a dynamic relative gravimeter zero drift compensation method based on satellite gravity anomaly information comprises the following steps:
step A, according to the operationThe rule carries out measurement operation based on the dynamic relative gravimeter and processes data to obtain gravity anomaly information delta g on a measuring lineiI ═ 1,2,3, … …, N denotes the number of measurement points;
b, analyzing to obtain the average value delta g of the dynamic gravity anomaly output by the relative gravimeter on a single measuring line0;
Step C, obtaining gravity anomaly information output by the gravity of the satellite at different positions of the survey line by utilizing the gravity information of the satellite through an interpolation methodAnd averaging the values
Step D, gravity anomaly information output by satellite gravityAnd (3) calibrating the gravity anomaly information output by the near-surface relative gravimeter to obtain: the relative gravity measured value is corrected by the satellite gravity.
Further, the step a is specifically realized by the following steps:
step A1, carrying dynamic relative gravimeter by using the mobile platform to carry out conventional measurement operation, and obtaining carrier position information vectors P of each time point in the measurement processiI-1, 2,3, … …, N, and synchronized gravity sensor output information
Wherein the position information vector is:
in the formula:the latitude of the ith measurement point; lambda [ alpha ]iLongitude of the ith measurement point; h isiIs the height of the ith measurement point;
step A2, outputting information to gravity sensorPerforming vertical acceleration correction, normal gravity field correction and Hertefsh correction to obtain gravity anomaly information delta g corresponding to each measurement point position on the measurement linei。
Further, in the step C, when interpolating the satellite gravity by using the position information of each measurement point on the survey line, the following method is specifically adopted:
(1) obtaining satellite gravity information through public data to obtain a position point to be interpolatedDefining vectors formed by longitude and latitude of the four position points and satellite gravity abnormal values in the interior of the four position points with known satellite gravity values asAndnamely, the method comprises the following steps:
wherein,the latitude of the ith measurement point; lambda [ alpha ]iLongitude of the ith measurement point; h isiIs the height of the ith measurement point;anddenotes latitude, λaAnd λbWhich represents the longitude of the vehicle,andsatellite gravity outliers of the four location points respectively;
(2) defining intermediate variables α and β:
this results in a linear interpolation formula:
(3) further obtaining:
the gravity values of the satellite at each position point on the measuring line are obtained and averagedThe calculation formula is as follows:
compared with the prior art, the invention has the advantages and positive effects that:
the method develops a new method, creatively provides a method for calibrating the dynamic relative gravimeter by utilizing the satellite gravity anomaly information with extremely small zero drift but low spatial resolution and high precision, obtains the gravity anomaly information on the measuring line, outputs the average value of the gravity anomaly by the dynamic relative gravimeter on a single measuring line and combines the average value of the gravity anomaly information output by the satellite gravity on the measuring line, combines the advantage of high resolution of the relative dynamic gravimeter and the advantage of high stability of the satellite gravity to obtain a relative gravity measurement value after the satellite gravity correction, realizes the reduction of the zero drift error of the gravity sensor in the scheme, and improves the measurement precision.
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FIG. 1 is a schematic flow chart illustrating a zero drift compensation method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of interpolation of satellite gravity information according to an embodiment of the present invention.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and thus, the present invention is not limited to the specific embodiments disclosed below.
A dynamic relative gravimeter zero drift compensation method based on satellite gravity anomaly information, as shown in FIG. 1, includes the following steps:
(1) according to the operation rule, measurement operation is carried out based on the dynamic relative gravimeter, data are processed, and gravity anomaly information on a measuring line is obtained, specifically:
the conventional measurement operation is carried out by utilizing mobile platforms such as airplanes, ships and warships and the like to carry dynamic relative gravimeters, and the measurement process is recorded through GNSSVector P of position information of carrier at each point in timei(i ═ 1,2,3, … …, N) and synchronized gravity sensor output informationWherein the position information vector is:
in the formula:
λi-longitude of the ith measurement point;
hi-height of the ith measurement point.
The data processing is carried out on the output information of the gravity sensor, and the data processing method specifically comprises the following steps: utilizing GNSS navigation information to mainly be vertical acceleration correction, normal gravity field correction and Hertefsh correction, wherein:
the vertical acceleration correction formula is as follows:
the normal gravitational field correction formula is:
in the formula ge=9.78049m/s2Representing the gravitational acceleration on the equatorial sea level.
The ertfsh correction formula is:
in the formula:
Ω -east velocity of the vector;
ve-rotational angular velocity of the earth;
v-horizontal velocity of the vector;
r-the radius of the earth.
After the three correction items, the gravity anomaly information delta g corresponding to each measuring point position on the measuring line can be obtainedi(i=1,2,3,……,N)。
(2) Calculating the average value delta g of the dynamic gravity anomaly output by the relative gravimeter on a single measuring line0;
In the formula, δ g0The average value of the dynamic relative gravity anomaly on the measuring line is shown to be relative to the output gravity anomaly of the gravimeter.
(3) Obtaining gravity anomaly information of the gravity output of the survey line satellite by utilizing satellite gravity information through an interpolation methodAnd averaging the values
Specifically, the satellite gravity is interpolated by using the position information of each point on the survey line to obtain the satellite gravity abnormal information of each position pointIn view of the fact that the latitude information in the currently disclosed satellite gravity information is in an equally-spaced form, the embodiment adopts a bilinear interpolation method on the premise of ignoring elevation influence, which specifically comprises the following steps:
as shown in FIG. 2, by reading the public satellite gravity information, the position point to be interpolated can be always foundGravity in four known satellitesInside the position points of the value, defining the longitude and latitude of the four position points and the vector formed by the satellite gravity abnormal value asAndnamely, the method comprises the following steps:
wherein,the latitude of the ith measurement point; lambda [ alpha ]iLongitude of the ith measurement point; h isiIs the height of the ith measurement point;anddenotes latitude, λaAnd λbWhich represents the longitude of the vehicle,andsatellite gravity outliers of the four location points respectively;
defining intermediate variables alpha and beta, and calculating the formula as follows:
the linear interpolation formula is thus obtained as:
further obtaining:
the gravity values of the satellite at each position point on the measuring line are obtained and averaged
(4) The gravity anomaly information output by the satellite gravity is utilized to calibrate the gravity anomaly information output by the near-surface relative gravimeter, and the advantage of high resolution of the relative dynamic gravimeter and the advantage of high stability of the satellite gravity are fused to obtain:
The current dynamic relative gravimeter is limited by the technology level and the electronic circuit technology, the zero drift problem can not be solved in principle, and the zero drift can only be inhibited by measures of improving the temperature control precision, the shock absorption efficiency of the shock absorber and the like as far as possible. The invention develops a new method, calibrates the dynamic relative gravimeter by using the satellite gravity abnormal information with extremely low zero drift, low spatial resolution and high precision, reduces the zero drift error of the gravity sensor in the scheme, improves the measurement precision, and has better practical application and reference value.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (2)
1. The dynamic relative gravimeter zero drift compensation method based on satellite gravity anomaly information is characterized by comprising the following steps of:
step A, measuring operation is carried out based on a dynamic relative gravimeter according to operation rules and data are processed to obtain gravity anomaly information delta g on a measuring lineiI ═ 1,2,3, … …, N denotes the number of measurement points;
b, analyzing to obtain the average value delta g of the dynamic gravity anomaly output by the relative gravimeter on a single measuring line0;
Step C, obtaining gravity anomaly information output by the gravity of the satellite at different positions of the survey line by utilizing the gravity information of the satellite through an interpolation methodAnd averaging the values
(1) Obtaining satellite gravity information through public data to obtain a position point to be interpolatedDefining the longitude and latitude of four position points and the satellite in the interior of the four position points with known gravity values of the satelliteThe vectors formed by the gravity abnormal values are respectivelyAndnamely, the method comprises the following steps:
wherein,the latitude of the ith measurement point; lambda [ alpha ]iLongitude of the ith measurement point; h isiIs the height of the ith measurement point;anddenotes latitude, λaAnd λbWhich represents the longitude of the vehicle,andsatellite gravity outliers of the four location points respectively;
(2) defining intermediate variables α and β:
this results in a linear interpolation formula:
(3) further obtaining:
the gravity values of the satellite at each position point on the measuring line are obtained and averagedThe calculation formula is as follows:
2. The method for compensating the zero drift of the relative gravimeter based on the abnormal information of the gravity of the satellite according to claim 1, wherein: the step A is specifically realized by the following steps:
step A1, carrying dynamic relative gravimeter by using the mobile platform to carry out conventional measurement operation, and obtaining carrier position information vectors P of each time point in the measurement processiI-1, 2,3, … …, N, and synchronized gravity sensor output information
Wherein the position information vector is:
in the formula:the latitude of the ith measurement point; lambda [ alpha ]iLongitude of the ith measurement point; h isiIs the height of the ith measurement point;
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