CN109212620B - Error compensation device and method for gravity gradiometer of rotating accelerometer with movable base - Google Patents
Error compensation device and method for gravity gradiometer of rotating accelerometer with movable base Download PDFInfo
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Abstract
The invention discloses a gravity gradiometer error compensation device and a gravity gradiometer error compensation method for a moving base rotating accelerometer, which are characterized in that according to the detected angular motion, linear motion and attitude angle of a gravity gradiometer, based on a gravity gradiometer analysis model and a self-gradient model, the angular motion error, the linear motion error and the self-gradient of the gravity gradiometer are calculated, the angular motion error, the linear motion error and the self-gradient are subjected to orthogonal amplitude modulation, and the signals before the demodulation of the gravity gradiometer are compensated. The invention not only compensates the angular motion error, the linear motion error and the self-gradient in the output signal of the gravity gradiometer, but also solves the problems of overvoltage damage and overvoltage saturation of a front-end conditioning circuit of the gravity gradiometer caused by the angular motion, the linear motion and the self-gradient of the gravity gradiometer. The signal compensated by the gravity gradiometer is used for feeding back and adjusting a linear motion error transfer coefficient, an angular motion error transfer coefficient and an accelerometer scale coefficient, and can offset the influence of environmental factors such as temperature, a magnetic field and the like on the gravity gradiometer error transfer coefficient.
Description
Technical Field
The invention relates to an error compensation device and method for a gravity gradiometer of a rotating accelerometer with a movable base, and belongs to the technical field of precision measurement.
Background
The dynamic base gravity gradient exploration is a low-cost and high-efficiency gravity gradient exploration method; is the most advanced gravity field exploration mode in the world at present. The gravity gradient data is widely applied to geological analysis, gravity field modeling, high-precision navigation, resource exploration and the like. The gravity gradiometer has extremely important national defense and civil values. At present, the gravity gradiometers researched at home and abroad mainly comprise cold atom gravity gradiometers, superconducting gravity gradiometers, MEMS gravity gradiometers and the like. The gravity gradiometers which have been put into commercial use abroad mainly include a rotary accelerometer gravity gradiometer and a rotary superconducting accelerometer gravity gradiometer. A gravity gradiometer model machine in China is under development.
During moving base gravity gradient exploration, the acceleration, the angular velocity and the angular acceleration of the gravity gradiometer are transmitted to the output of the gravity gradiometer to cause measurement errors due to installation errors of an accelerometer in the gravity gradiometer, mismatch of first-order and high-order scale coefficients of the accelerometer, mismatch of circuit gains and the like. Meanwhile, the linear motion, self-gradient and angular motion of the gravity gradiometer can cause overvoltage saturation or damage of a signal conditioning circuit at the front end of the gravity gradiometer. The invention provides a device and a method capable of compensating linear motion errors, angular motion errors and self gradients of a gravity gradiometer in real time, and no report about the device and the technology for compensating the linear motion errors and the angular motion errors of the gravity gradiometer in real time is available at present.
Disclosure of Invention
The technical problem is as follows: the invention provides an error compensation device of a gravity gradiometer of a rotary accelerometer with a movable base, which can feed back and compensate output measurement errors caused by linear motion, angular motion and self-gradient of the gravity gradiometer, can inhibit the influence of environmental factors such as temperature, electromagnetic field and the like on an error transfer coefficient, and can avoid overvoltage saturation and overvoltage damage of a signal conditioning circuit at the front end of the gravity gradiometer caused by acceleration, angular velocity and angular acceleration of the gravity gradiometer. The invention also provides an error compensation method of the gravity gradiometer of the moving base rotating accelerometer, which has the effect and solves the problem.
The technical scheme is as follows: the invention relates to an error compensation device for a gravity gradiometer of a rotating accelerometer with a movable base, which comprises:
a reference signal generation module for generating a quadrature amplitude modulated carrier;
the self-gradient compensation signal generation module is used for generating a self-gradient compensation signal in real time;
the angular motion error compensation signal generation module is used for generating an angular motion error compensation signal of the gravity gradiometer in real time and detecting the centrifugal gradient of the gravity gradiometer;
the angular motion error transfer coefficient processing module is used for carrying out real-time micro-angle modulation on the motion error transfer coefficient;
the linear motion error compensation signal generation module is used for generating a linear motion error compensation signal of the gravity gradiometer in real time;
the linear motion error transfer coefficient processing module is used for fine-tuning the linear motion error transfer coefficient in real time;
the gravity gradiometer accelerometer signal processing module is used for summing and differencing the output signals of the accelerometers arranged on the rotating disc;
the accelerometer scale coefficient adjusting module is used for adjusting the accelerometer scale coefficient in real time;
the compensation operation module is used for compensating gravity gradient signals containing angular motion errors, linear motion errors and self gradients;
the gravity gradient signal recovery module is used for demodulating and outputting a gravity gradient signal from the compensated gravity gradiometer signal;
the output of the reference signal generation module is connected to the inputs of the self-gradient compensation signal generation module, the angular motion error compensation signal generation module and the linear motion error compensation signal generation module; the outputs of the self-gradient compensation signal generation module, the angular motion error compensation signal generation module, the linear motion error compensation signal generation module and the gravity gradiometer accelerometer signal processing module are connected to the input of the compensation operation module; the output of the compensation operation module is connected to the inputs of the accelerometer scale coefficient adjusting module, the angular motion error transfer coefficient processing module, the linear motion error transfer coefficient processing module and the gravity gradient signal restoring module; the output of the linear motion error transfer coefficient processing module is connected to the input of the linear motion error compensation signal generating module; the output of the angular motion error transfer coefficient processing module is connected to the input of the angular motion error compensation signal generation module; and the output of the accelerometer scale coefficient adjusting module is connected to the input of the gravity gradiometer accelerometer signal processing module.
Furthermore, in the device of the invention, the reference signal generating module comprises a gravity gradiometer rotating disc shaft encoder and a signal generator; the gravity gradiometer rotary disc shaft encoder detects the phase angle phi of the gravity gradiometer disc rotationtSaid signal generator being dependent on the phase angle phitGenerating a quadrature amplitude modulated carrier sin phit，sin2φt，cosφt，cos2φt；
Further, in the apparatus of the present invention, the angular motion error transfer coefficient processing module includes an initial value setting module for angular motion error transfer coefficient and an angular motion error transfer coefficient adjusting module, and the initial value setting module for angular motion error transfer coefficient is configured to set an initial value for angular motion error transfer coefficient:
the angular motion error transfer coefficient adjusting module is used for adjusting the compensated weight according to feedbackThe force gradiometer signal generates the adjustment quantity, the micro-angle modulation movement error transfer coefficient; the angular motion error transfer coefficient processing module has two working modes, namely an adjusting mode and a non-adjusting mode, and when the angular motion error transfer coefficient processing module works in the adjusting mode, the angular motion error transfer coefficient is adjusted in real time; when operating in the non-adjustment mode, the angular motion error transfer system remains unchanged.
Furthermore, in the device of the present invention, the angular motion error compensation signal generation module includes an angular motion error transfer coefficient input module, an angular motion detection module, a reference signal input module, an angular motion compensation signal generation module, and a centrifugal gradient detection module;
the angular motion error transfer coefficient input module is used for inputting an angular motion error transfer coefficient; the reference signal input module is used for inputting a quadrature amplitude modulation carrier; the angular motion detection module comprises an angular rate sensor and a low-pass filter and is used for detecting the angular motion of the gravity gradiometer; the angular rate sensors are arranged on the x axis, the y axis and the z axis of a measuring coordinate system of the gravity gradiometer, and are used for measuring the angular speed omega of the measuring coordinate system of the gravity gradiometerx,ωy,ωzAnd angular acceleration omegaax,ωay,ωaz(ii) a The low-pass filter filters high-frequency noise in the angular velocity and angular acceleration signals; the angular motion compensation signal generation module generates an angular motion error compensation signal according to the quadrature amplitude modulation carrier, the angular motion error transfer coefficient, the angular acceleration and the angular velocity; the centrifugal gradient detection module has two working modes, namely a calibration mode and a non-calibration mode, wherein in the calibration mode, the centrifugal gradient detection unit outputs the detected centrifugal gradient, and in the non-calibration mode, the centrifugal gradient detection unit does not output the detected centrifugal gradient.
Furthermore, in the device of the present invention, the angular motion error compensation signal generation module has three working modes, an uncompensated mode, a normal mode and a calibration mode; in the uncompensated mode, a total angular motion error compensation signal C at time t is generatedA(t) is:
CA(t)＝0；
in normal mode, the total angular motion error at time t is generatedCompensation signal CA(t) is:
in calibration mode, a total angular motion error compensation signal C at time t is generatedA(t) is:
in the formula of sin2 phit,cos2φt,sinφt,cosφtInputting a quadrature amplitude modulation carrier of the angular motion error compensation signal generation module for the time t;
the angular motion error transfer coefficient of the angular motion error compensation signal generation module is input at the moment t; omegax(t),ωy(t),ωz(t),ωax(t),ωay(t),ωazAnd (t) represents the angular motion signal of the input angular motion error compensation signal generation module at the time t.
Further, in the apparatus of the present invention, the linear motion error transfer coefficient processing module includes a linear motion error transfer coefficient initial value setting module and a linear motion error transfer coefficient adjusting module, and the linear motion error transfer coefficient initial value setting module is configured to set a linear motion error transfer coefficient initial value:the linear motion error transmission difference coefficient adjusting module generates an adjusting quantity and a fine adjustment linear motion error transmission coefficient according to the fed back compensated gravity gradiometer signal; the linear motion error transfer coefficient processing module has two working modes, namely an adjusting mode and a non-adjusting mode, and when the linear motion error transfer coefficient processing module works in the adjusting mode, the linear motion error transfer coefficient is adjusted in real time; when operating in the unregulated mode, the line motion error transfer system remains unchanged.
Further, in the apparatus of the present invention, the line motion error compensation signalThe generation module comprises a linear motion detection module, a linear motion error transfer coefficient input module, a reference signal input module and a linear motion compensation signal generation module, wherein the linear motion detection module comprises an accelerometer and a low-pass filter and is used for detecting the acceleration of the gravity gradiometer; the accelerometer is arranged on an x axis, a y axis and a z axis of a measurement coordinate system of the gravity gradiometer, and is used for measuring the acceleration a of the measurement coordinate system of the gravity gradiometerx,ay,az(ii) a The low-pass filter filters high-frequency noise in the acceleration signal; the line motion error transfer coefficient input module is used for inputting line motion error transfer coefficients; the reference signal generating module is used for inputting a quadrature amplitude modulation carrier; the linear motion compensation signal generation module generates a linear motion error compensation signal according to the input quadrature amplitude modulation carrier, the acceleration signal and the linear motion error transfer coefficient.
Further, in the apparatus of the present invention, the line motion error compensation signal generation module has two operation modes: non-compensated mode, compensated mode; in the non-compensation mode, a total line motion error compensation signal C at time t is generatedL(t) is:
CL(t)＝0；
in the compensation mode, a total line motion error compensation signal C at time t is generatedL(t) is:
in the formula of sin2 phit,cos2φt,sinφt,cosφtInputting a quadrature amplitude modulation carrier of a line motion error compensation signal generation module for the time t;
the linear motion error transfer coefficient of the input linear motion error compensation signal generation module at the time t is represented; a isx(t),ay(t),azAnd (t) represents the acceleration signal of the input line motion error compensation signal generation module at the time t.
Furthermore, in the apparatus of the present invention, the compensation operation module compensates the outputs containing the self-gradient error, the linear motion error, and the angular motion error generated by the gravity gradiometer accelerometer signal processing module according to the self-gradient compensation signal output by the self-gradient compensation signal generation module, the linear motion error compensation signal generated by the linear motion error compensation signal generation module, and the angular motion error compensation signal generated by the angular motion error compensation signal generation module.
The invention discloses an error compensation method for a gravity gradiometer of a rotating accelerometer with a movable base, which comprises the following steps:
1) calculating a linear motion error transfer coefficient at the time t according to the fed compensated gravity gradiometer signal and the working mode of the linear motion error transfer coefficient processing module:
adjusting mode:non-adjustment mode:
in the formula
Representing the line motion error transfer coefficient at time t,
representing the line motion error transfer coefficient at the time t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f1(gc(t-1)) is the fine tuning quantity of the motion error transfer coefficient of the reticle at t, which is gc(t-1);
according to the feedback compensated gravity gradiometer signal and the working mode of the angular motion error transfer coefficient processing module, calculating the angular motion error transfer coefficient at the moment t:
adjusting mode:
non-adjustment mode:
in the formulaRepresenting the angular motion error transfer coefficient at time t,
representing the angular motion error transfer coefficient at the moment t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f2(gc(t-1)) represents the amount of fine adjustment of the angular motion error transfer coefficient at time t, which is gc(t-1); line motion error transfer coefficient at time t-0
Angular motion error transfer coefficient
Are all obtained by calibration;
calculating the accelerometer scale coefficient at the time t according to the feedback compensated gravity gradiometer signal:
in the formulaShowing the scaling factor at time t for four accelerometers mounted on a rotating disk,
the scale factor of four accelerometers arranged on the rotating disc at the time t-1 is shown; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f3(gc(t-1)) represents the adjustment of the accelerometer scaling factor at time t, which is gc(t-1);
2) detecting phase angle phi of rotating disk of gravity gradiometer of rotating accelerometer at time ttCalculating the quadrature amplitude modulation carrier sin phi at the time tt，sin2φt，cosφt，cos2φt(ii) a Detecting the acceleration a of the gravity gradiometer of the rotary accelerometer at the time tx(t),ay(t),az(t); detecting the angular velocity and the angular acceleration omega of the gravity gradiometer of the rotating accelerometer at the moment tx(t),ωy(t),ωz(t),ωax(t),ωay(t),ωaz(t)；
Calculating a class 3 line motion error compensation signal C at time t according to the following formulaL1(t),CL2(t),CL3(t):
Calculating a 3-class angular motion error compensation signal C at time t according to the following formulaA1(t),CA2(t),CA3(t):
3) Calculating the total linear motion error compensation signal C at the time t according to the working mode of the linear motion error compensation signal generation moduleL(t)：
In the non-compensation mode, CL(t)＝0；
In compensation mode, CL(t)＝CL1(t)+CL2(t)+CL3(t)；
Calculating the total angular motion error compensation signal C at the time t according to the working mode of the angular motion error compensation signal generation moduleA(t)：
In the non-compensation mode, CA(t)＝0；
In normal mode, CA(t)＝CA1(t)+CA2(t)+CA3(t)；
In calibration mode, CA(t)＝CA2(t)+CA3(t)；
Calculating the self-gradient compensation signal C at the time t according to the working mode of the self-gradient compensation signal generation modulesg(t)：
In the case of the compensation mode,
in the non-compensation mode, Csg(t)＝0；
In the formulaIs the attitude angle of the gravity gradiometer at time t, P is a parameter of the self-gradient model,
is the output from the inline channel of the gradient model, which is a function of the attitude angle,
is the output from the cross channel of the gradient model, which is a function of the attitude angle;
4) performing linear motion error compensation, angular motion error compensation and self-gradient compensation on gravity gradiometer signals g (t) containing linear motion errors, angular motion errors and self-gradients at the time t according to the following formula;
gc(t)＝g(t)-CL(t)-Csg(t)-CA(t)
in the formula gc(t) is gravity gradiometer signal compensated at time t, g (t) is gravity gradiometer signal including linear motion error, angular motion error, and self-gradient at time t, CL(t) is the total line motion error compensation signal at time t, Csg(t) is the self-gradient compensation signal, CA(t) is the total angular motion error compensation signal at time t.
During moving base gravity gradient exploration, the acceleration, the angular velocity and the angular acceleration of the gravity gradiometer are transmitted to the output of the gravity gradiometer to cause measurement errors due to installation errors, mismatching of first-order and high-order scale coefficients of the accelerometer, mismatching of circuit gain and the like in the accelerometer inside the gravity gradiometer, and in addition, the linear motion error transmission coefficient and the angular motion error transmission coefficient of the gravity gradiometer are easily influenced by environmental factors such as temperature, electromagnetic fields and the like. Meanwhile, the acceleration, the angular velocity and the angular acceleration of the gravity gradiometer can cause overvoltage saturation or overvoltage damage of a signal conditioning circuit at the front end of the gravity gradiometer.
Has the advantages that: compared with the prior art, the invention has the following advantages:
the invention provides a device and a method for compensating linear motion error, angular motion error and self-gradient of a gravity gradiometer of a rotating accelerometer in real time for the first time. The invention provides a device and a method capable of compensating linear motion error, angular motion error and self-gradient of a gravity gradiometer in real time, which can compensate measurement errors caused by linear motion, angular motion and self-gradient of the gravity gradiometer and improve the measurement accuracy of the gravity gradiometer according to the feedback compensated gravity gradiometer signals, the influence of environmental factors such as temperature, magnetic field and the like on the linear motion error transfer coefficient, the angular motion error transfer coefficient and the scale coefficient of the gravity gradiometer can be counteracted. Meanwhile, orthogonal amplitude modulation is carried out on linear motion errors, angular motion errors and self-gradient signals of the gravity gradiometer, and signals before demodulation of the gravity gradiometer are directly compensated, so that the problems of overvoltage saturation and overvoltage damage of a front-end signal conditioning circuit caused by acceleration, angular speed and the like of the gravity gradiometer can be solved.
Drawings
FIG. 1 is a schematic diagram of a device for real-time error compensation of a gravity gradiometer of a rotary accelerometer.
Fig. 2 is a schematic diagram of a reference signal generation module.
FIG. 3 is a schematic diagram of a linear motion error transfer coefficient processing module and an angular motion error transfer coefficient processing module.
Fig. 4 is a schematic diagram of an angular motion error compensation signal generation module and a linear motion error compensation signal generation module.
FIG. 5 is a schematic view of an angular rate sensor and accelerometer installation.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1, the invention relates to an error compensation device for a gravity gradiometer of a rotating accelerometer with a movable base, which comprises: a reference signal generation module for generating a quadrature amplitude modulated carrier; the self-gradient compensation signal generation module is used for generating a self-gradient compensation signal in real time; the angular motion error compensation signal generation module is used for generating an angular motion error compensation signal of the gravity gradiometer in real time and can also detect the sensitive centrifugal gradient of the gravity gradiometer; the angular motion error transfer coefficient processing module is used for carrying out real-time micro-angle modulation on the motion error transfer coefficient; the linear motion error compensation signal generation module is used for generating a linear motion error compensation signal of the gravity gradiometer in real time; the linear motion error transfer coefficient processing module is used for fine-tuning the linear motion error transfer coefficient in real time; the gravity gradiometer accelerometer signal processing module is used for summing and differencing the output signals of the accelerometers arranged on the rotating disc; the accelerometer scale coefficient adjusting module is used for adjusting the accelerometer scale coefficient in real time; the compensation operation module is used for compensating gravity gradient signals containing angular motion errors, linear motion errors and self gradients; the gravity gradient signal recovery module is used for demodulating and outputting a gravity gradient signal from the compensated gravity gradiometer signal;
the output of the reference signal generation module is connected to the inputs of the self-gradient compensation signal generation module, the angular motion error compensation signal generation module and the linear motion error compensation signal generation module; the outputs of the self-gradient compensation signal generation module, the angular motion error compensation signal generation module, the linear motion error compensation signal generation module and the gravity gradiometer accelerometer signal processing module are connected to the input of the compensation operation module; the output of the compensation operation module is connected to the inputs of the accelerometer scale coefficient adjusting module, the angular motion error transfer coefficient processing module, the linear motion error transfer coefficient processing module and the gravity gradient signal restoring module; the output of the linear motion error transfer coefficient processing module is connected to the input of the linear motion error compensation signal generating module; the output of the angular motion error transfer coefficient processing module is connected to the input of the angular motion error compensation signal generation module; and the output of the accelerometer scale coefficient adjusting module is connected to the input of the gravity gradiometer accelerometer signal processing module.
As shown in fig. 2, the reference signal generating module comprises a gravity gradiometer rotary disc shaft encoder and a signal generator; the gravity gradiometer rotary disc shaft encoder detects the phase angle phi of the gravity gradiometer disc rotationtSaid signal generator being dependent on the phase angle phitGenerating a quadrature amplitude modulated carrier sin phit，sin2φt，cosφt，cos2φt；
As shown in fig. 3(a), the angular motion error transfer coefficient processing module is composed of an angular motion error transfer coefficient initial value setting module and an angular motion error transfer coefficient adjusting module; the angular motion error transfer coefficient initial value setting module is used for setting an angular motion error transfer coefficient initial value:
the angular motion error transmission difference coefficient adjusting module generates an adjusting quantity according to the fed back compensated gravity gradiometer signal and slightly adjusts the angular motion error transmission coefficient; the angular motion error transfer coefficient processing module has two working modes, namely an adjusting mode and a non-adjusting mode, and when the angular motion error transfer coefficient processing module works in the adjusting mode, the angular motion error transfer coefficient is adjusted in real time; when operating in the non-adjustment mode, the angular motion error transfer system remains unchanged.
As shown in fig. 4(b), the angular motion error compensation signal generation module is composed of an angular motion error transfer coefficient input module, an angular motion detection module, a reference signal input module, an angular motion compensation signal generation module, and a centrifugal gradient detection module; the angular motion error transfer coefficient input module is used for inputting an angular motion error transfer coefficient; the reference signal input module is used for inputting a quadrature amplitude modulation carrier; the angular motion detection module consists of an angular rate sensor and a low-pass filter and is used forDetecting angular motion of a gravity gradiometer; as shown in fig. 5, the angular rate sensors are installed on the x-axis, y-axis and z-axis of the gravity gradiometer measurement coordinate system, and measure the angular velocity ω of the gravity gradiometer measurement coordinate systemx,ωy,ωzAnd angular acceleration omegaax,ωay,ωaz(ii) a The low-pass filter filters high-frequency noise in the angular velocity and angular acceleration signals; the angular motion error generating module generates an angular motion error compensation signal according to the quadrature amplitude modulation carrier, the angular motion error transfer coefficient, the angular acceleration and the angular velocity; the centrifugal gradient detection module has two working modes, namely a calibration mode and a non-calibration mode, wherein in the calibration mode, the centrifugal gradient detection unit outputs the detected centrifugal gradient, and in the non-calibration mode, the centrifugal gradient detection unit does not output the detected centrifugal gradient; .
The angular motion error compensation signal generation module has three working modes, namely an uncompensated mode, a normal mode and a calibration mode; in the uncompensated mode, a total angular motion error compensation signal C at time t is generatedA(t) is:
CA(t)＝0；
in normal mode, the total angular motion error compensation signal C at time t is generatedA(t) is:
in the formula of sin2 phit,cos2φt,sinφt,cosφtInputting a quadrature amplitude modulation carrier of the angular motion error compensation signal generation module for the time t;
the angular motion error transfer coefficient of the angular motion error compensation signal generation module is input at the moment t;ωx(t),ωy(t),ωz(t),ωax(t),ωay(t),ωaz(t) an angular motion signal of the input angular motion error compensation signal generation module at time t;
as shown in fig. 3(b), the linear motion error transfer coefficient processing module is composed of a linear motion error transfer coefficient initial value setting module and a linear motion error transfer coefficient adjusting module; the line motion error transfer coefficient initial value setting module sets a line motion error transfer coefficient initial value:
the linear motion error transmission difference coefficient adjusting module generates an adjusting quantity according to the fed back compensated gravity gradiometer signal and finely adjusts the linear motion error transmission coefficient; the linear motion error transfer coefficient processing module has two working modes, namely an adjusting mode and a non-adjusting mode, and when the linear motion error transfer coefficient processing module works in the adjusting mode, the linear motion error transfer coefficient is adjusted in real time; when working in the non-adjusting mode, the linear motion error transmission system is kept unchanged;
as shown in fig. 4(a), the line motion error compensation signal generation module is composed of a line motion detection module, a line motion error transfer coefficient input module, and a reference signal input module; the linear motion detection module consists of an accelerometer and a low-pass filter and is used for detecting the acceleration of the gravity gradiometer; as shown in fig. 5, the accelerometers are arranged on the x-axis, y-axis and z-axis of the gravity gradiometer measurement coordinate system, and the acceleration a of the gravity gradiometer measurement coordinate system is measuredx,ay,az(ii) a The low-pass filter filters high-frequency noise in the acceleration signal; the linear motion error transfer coefficient input module is used for inputting linear motion error transfer coefficients; the reference signal generating module is used for inputting a quadrature amplitude modulation carrier; the linear motion compensation signal generation module generates a linear motion error compensation signal according to the input quadrature amplitude modulation carrier wave, the acceleration signal and the linear motion error transfer coefficient.
The line motion error compensation signal generation module has two operating modes: non-compensated mode, compensated mode; is notIn the compensation mode, a total line motion error compensation signal C at time t is generatedL(t) is:
CL(t)＝0；
in the compensation mode, a total line motion error compensation signal C at time t is generatedL(t) is:
in the formula of sin2 phit,cos2φt,sinφt,cosφtInputting a quadrature amplitude modulation carrier of a line motion error compensation signal generation module for the time t;
the linear motion error transfer coefficient of the input linear motion error compensation signal generation module at the time t is represented; a isx(t),ay(t),azAnd (t) represents the acceleration signal of the input line motion error compensation signal generation module at the time t.
The compensation operation module compensates the output containing the self-gradient error, the linear motion error and the angular motion error generated by the gravity gradiometer accelerometer signal processing module according to the self-gradient compensation signal output by the self-gradient compensation signal generation module, the linear motion error compensation signal generated by the linear motion error compensation signal generation module and the angular motion error compensation signal generated by the angular motion error compensation signal generation module;
the invention discloses an error compensation method for a gravity gradiometer of a rotating accelerometer with a movable base, which comprises the following steps:
1) calculating a linear motion error transfer coefficient at the time t according to the fed compensated gravity gradiometer signal and the working mode of the linear motion error transfer coefficient processing module:
adjusting mode:
non-adjustment mode:
in the formula
Representing the line motion error transfer coefficient at time t,
representing the line motion error transfer coefficient at the time t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f1(gc(t-1)) is the fine tuning quantity of the motion error transfer coefficient of the reticle at t, which is gc(t-1);
according to the feedback compensated gravity gradiometer signal and the working mode of the angular motion error transfer coefficient processing module, calculating the angular motion error transfer coefficient at the moment t:
adjusting mode:
non-adjustment mode:
in the formulaRepresenting the angular motion error transfer coefficient at time t,
representing the angular motion error transfer coefficient at the moment t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f2(gc(t-1)) represents the amount of fine adjustment of the angular motion error transfer coefficient at time t, which is gc(t-1); line motion error transfer coefficient at time t-0
Angular motion error transfer coefficient
Obtaining the product through calibration;
calculating the accelerometer scale coefficient at the time t according to the feedback compensated gravity gradiometer signal:
in the formula
Showing the scaling factor at time t for four accelerometers mounted on a rotating disk,
the scale factor of four accelerometers arranged on the rotating disc at the time t-1 is shown; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f3(gc(t-1)) represents the adjustment of the accelerometer scaling factor at time t, which is gc(t-1);
2) detecting phase angle phi of rotating disk of gravity gradiometer of rotating accelerometer at time ttCalculating the quadrature amplitude modulation carrier sin phi at the time tt，sin2φt，cosφt，cos2φt(ii) a Detecting the acceleration a of the gravity gradiometer of the rotary accelerometer at the time tx(t),ay(t),az(t); detecting the angular velocity and the angular acceleration omega of the gravity gradiometer of the rotating accelerometer at the moment tx(t),ωy(t),ωz(t),ωax(t),ωay(t),ωaz(t)；
Calculating a class 3 line motion error compensation signal C at time t according to the following formulaL1(t),CL2(t),CL3(t):
Calculating a 3-class angular motion error compensation signal C at time t according to the following formulaA1(t),CA2(t),CA3(t):
3) Calculating the total linear motion error compensation signal C at the time t according to the working mode of the linear motion error compensation signal generation moduleL(t)：
In the non-compensation mode, CL(t)＝0；
In compensation mode, CL(t)＝CL1(t)+CL2(t)+CL3(t)；
Calculating the total angular motion error compensation signal C at the time t according to the working mode of the angular motion error compensation signal generation moduleA(t)：
In the non-compensation mode, CA(t)＝0；
In normal mode, CA(t)＝CA1(t)+CA2(t)+CA3(t)；
In calibration mode, CA(t)＝CA2(t)+CA3(t)；
Calculating the self-gradient compensation signal C at the time t according to the working mode of the self-gradient compensation signal generation modulesg(t)：
In the case of the compensation mode,
in the non-compensation mode, Csg(t)＝0；
In the formulaIs the attitude angle of the gravity gradiometer at time t, P is a parameter of the self-gradient model,is the output from the inline channel of the gradient model, which is a function of the attitude angle,
is the output of the cross channel from the gradient model, which is the poseA function of the attitude angle;
4) performing linear motion error compensation, angular motion error compensation and self-gradient compensation on gravity gradiometer signals g (t) containing linear motion errors, angular motion errors and self-gradients at the time t according to the following formula;
gc(t)＝g(t)-CL(t)-Csg(t)-CA(t)
in the formula gc(t) is gravity gradiometer signal compensated at time t, g (t) is gravity gradiometer signal including linear motion error, angular motion error, and self-gradient at time t, CL(t) is the line motion error compensation signal at time t, Csg(t) is the self-gradient compensation signal, CA(t) is the angular motion error compensation signal.
Claims (10)
1. A moving base rotary accelerometer gravity gradiometer error compensation device, the device comprising:
a reference signal generation module for generating a quadrature amplitude modulated carrier;
the self-gradient compensation signal generation module is used for generating a self-gradient compensation signal in real time;
the angular motion error compensation signal generation module is used for generating an angular motion error compensation signal of the gravity gradiometer in real time and detecting the centrifugal gradient of the gravity gradiometer;
the angular motion error transfer coefficient processing module is used for carrying out real-time micro-angle modulation on the motion error transfer coefficient;
the linear motion error compensation signal generation module is used for generating a linear motion error compensation signal of the gravity gradiometer in real time;
the linear motion error transfer coefficient processing module is used for fine-tuning the linear motion error transfer coefficient in real time;
the gravity gradiometer accelerometer signal processing module is used for summing and differencing the output signals of the accelerometers arranged on the rotating disc;
the accelerometer scale coefficient adjusting module is used for adjusting the accelerometer scale coefficient in real time;
the compensation operation module is used for compensating gravity gradient signals containing angular motion errors, linear motion errors and self gradients;
the gravity gradient signal recovery module is used for demodulating and outputting a gravity gradient signal from the compensated gravity gradiometer signal;
the output of the reference signal generation module is connected to the inputs of the self-gradient compensation signal generation module, the angular motion error compensation signal generation module and the linear motion error compensation signal generation module; the outputs of the self-gradient compensation signal generation module, the angular motion error compensation signal generation module, the linear motion error compensation signal generation module and the gravity gradiometer accelerometer signal processing module are connected to the input of the compensation operation module; the output of the compensation operation module is connected to the inputs of the accelerometer scale coefficient adjusting module, the angular motion error transfer coefficient processing module, the linear motion error transfer coefficient processing module and the gravity gradient signal restoring module; the output of the linear motion error transfer coefficient processing module is connected to the input of the linear motion error compensation signal generating module; the output of the angular motion error transfer coefficient processing module is connected to the input of the angular motion error compensation signal generation module; and the output of the accelerometer scale coefficient adjusting module is connected to the input of the gravity gradiometer accelerometer signal processing module.
2. The apparatus of claim 1, wherein the gravity gradiometer error compensation device comprises: the reference signal generating module comprises a gravity gradiometer rotary disc shaft encoder and a signal generator; the gravity gradiometer rotary disc shaft encoder detects the phase angle phi of the gravity gradiometer disc rotationtSaid signal generator being dependent on the phase angle phitGenerating a quadrature amplitude modulated carrier sin phit，sin2φt，cosφt，cos2φt。
3. The apparatus of claim 1, wherein the gravity gradiometer error compensation device comprises: the angular motion error transfer coefficient processing module comprises an angular motion error transfer coefficient initial value setting module and an angleThe motion error transfer coefficient adjusting module is used for setting an initial value of the angular motion error transfer coefficient:
the angular motion error transfer coefficient adjusting module generates an adjusting quantity and a slight angular motion error transfer coefficient according to the fed-back compensated gravity gradiometer signal; the angular motion error transfer coefficient processing module has two working modes, namely an adjusting mode and a non-adjusting mode, and when the angular motion error transfer coefficient processing module works in the adjusting mode, the angular motion error transfer coefficient is adjusted in real time; when operating in the non-adjustment mode, the angular motion error transfer system remains unchanged.
4. A moving base rotary accelerometer gravity gradiometer error compensation device according to claim 1, 2 or 3 wherein: the angular motion error compensation signal generation module comprises an angular motion error transfer coefficient input module, an angular motion detection module, a reference signal input module, an angular motion compensation signal generation module and a centrifugal gradient detection module;
the angular motion error transfer coefficient input module is used for inputting an angular motion error transfer coefficient; the reference signal input module is used for inputting a quadrature amplitude modulation carrier; the angular motion detection module comprises an angular rate sensor and a low-pass filter and is used for detecting the angular motion of the gravity gradiometer; the angular rate sensors are arranged on the x axis, the y axis and the z axis of a measuring coordinate system of the gravity gradiometer, and are used for measuring the angular speed omega of the measuring coordinate system of the gravity gradiometerx,ωy,ωzAnd angular acceleration omegaax,ωay,ωaz(ii) a The low-pass filter filters high-frequency noise in the angular velocity and angular acceleration signals; the angular motion compensation signal generation module generates an angular motion error compensation signal according to the quadrature amplitude modulation carrier, the angular motion error transfer coefficient, the angular acceleration and the angular velocity; the centrifugal gradient detection module has two working modes, namely a calibration mode and a non-calibration mode, wherein in the calibration mode, the centrifugal gradient detection unit outputs the detected centrifugal gradient, and in the non-calibration modeUnder the fixed mode, the centrifugal gradient detection unit has no output.
5. A moving base rotary accelerometer gravity gradiometer error compensation device according to claim 1, 2 or 3 wherein: the angular motion error compensation signal generation module has three working modes, namely an uncompensated mode, a normal mode and a calibration mode; in the uncompensated mode, a total angular motion error compensation signal C at time t is generatedA(t) is:
CA(t)＝0；
in normal mode, the total angular motion error compensation signal C at time t is generatedA(t) is:
in calibration mode, a total angular motion error compensation signal C at time t is generatedA(t) is:
in the formula of sin2 phit,cos2φt,sinφt,cosφtInputting a quadrature amplitude modulation carrier of the angular motion error compensation signal generation module for the time t;
the angular motion error transfer coefficient of the angular motion error compensation signal generation module is input at the moment t; omegax(t),ωy(t),ωz(t),ωax(t),ωay(t),ωazAnd (t) represents the angular motion signal of the input angular motion error compensation signal generation module at the time t.
6. A moving base rotary accelerometer gravity gradiometer error compensation device according to claim 1, 2 or 3 wherein: the linear motion error transfer coefficient processing module comprises a linear motion error transfer coefficientInitial value setting module and line motion error transfer coefficient adjustment module, line motion error transfer coefficient initial value setting module is used for setting up line motion error transfer coefficient initial value:
the linear motion error transmission difference coefficient adjusting module generates an adjusting quantity and a fine adjustment linear motion error transmission coefficient according to the fed back compensated gravity gradiometer signal; the linear motion error transfer coefficient processing module has two working modes, namely an adjusting mode and a non-adjusting mode, and when the linear motion error transfer coefficient processing module works in the adjusting mode, the linear motion error transfer coefficient is adjusted in real time; when operating in the unregulated mode, the line motion error transfer system remains unchanged.
7. A moving base rotary accelerometer gravity gradiometer error compensation device according to claim 1, 2 or 3 wherein: the linear motion error compensation signal generation module comprises a linear motion detection module, a linear motion error transmission coefficient input module, a reference signal input module and a linear motion compensation signal generation module, wherein the linear motion detection module comprises an accelerometer and a low-pass filter and is used for detecting the acceleration of the gravity gradiometer; the accelerometer is arranged on an x axis, a y axis and a z axis of a measurement coordinate system of the gravity gradiometer, and is used for measuring the acceleration a of the measurement coordinate system of the gravity gradiometerx,ay,az(ii) a The low-pass filter filters high-frequency noise in the acceleration signal; the line motion error transfer coefficient input module is used for inputting line motion error transfer coefficients; the reference signal generating module is used for inputting a quadrature amplitude modulation carrier; the linear motion compensation signal generation module generates a linear motion error compensation signal according to the input quadrature amplitude modulation carrier, the acceleration signal and the linear motion error transfer coefficient.
8. A moving base rotary accelerometer gravity gradiometer error compensation device according to claim 1, 2 or 3 wherein: the line motion error compensation signal generation module has two operating modes: in the non-compensation mode, the compensation mode is selected,a compensation mode; in the non-compensation mode, a total line motion error compensation signal C at time t is generatedL(t) is:
CL(t)＝0；
in the compensation mode, a total line motion error compensation signal C at time t is generatedL(t) is:
in the formula of sin2 phit,cos2φt,sinφt,cosφtInputting a quadrature amplitude modulation carrier of a line motion error compensation signal generation module for the time t;
the linear motion error transfer coefficient of the input linear motion error compensation signal generation module at the time t is represented; a isx(t),ay(t),azAnd (t) represents the acceleration signal of the input line motion error compensation signal generation module at the time t.
9. A moving base rotary accelerometer gravity gradiometer error compensation device according to claim 1, 2 or 3 wherein: the compensation operation module compensates the output containing the self-gradient error, the linear motion error and the angular motion error generated by the gravity gradiometer accelerometer signal processing module according to the self-gradient compensation signal output by the self-gradient compensation signal generation module, the linear motion error compensation signal generated by the linear motion error compensation signal generation module and the angular motion error compensation signal generated by the angular motion error compensation signal generation module.
10. A gravity gradiometer error compensation method for a moving base rotary accelerometer is characterized by comprising the following steps:
1) calculating a linear motion error transfer coefficient at the time t according to the fed compensated gravity gradiometer signal and the working mode of the linear motion error transfer coefficient processing module:
adjusting mode:
non-adjustment mode:
in the formula
Representing the line motion error transfer coefficient at time t,
representing the line motion error transfer coefficient at the time t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f1(gc(t-1)) is the fine tuning quantity of the motion error transfer coefficient of the reticle at t, which is gc(t-1);
according to the feedback compensated gravity gradiometer signal and the working mode of the angular motion error transfer coefficient processing module, calculating the angular motion error transfer coefficient at the moment t:
adjusting mode:
non-adjustment mode:
in the formula
Representing the angular motion error transfer coefficient at time t,
representing the angular motion error transfer coefficient at the moment t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f2(gc(t-1)) represents the angular motion error transmission at time tThe fine adjustment of the coefficient, which is gc(t-1); line motion error transfer coefficient at time t-0
Angular motion error transfer coefficient
Are all obtained by calibration;
calculating the accelerometer scale coefficient at the time t according to the feedback compensated gravity gradiometer signal:
in the formula
Showing the scaling factor at time t for four accelerometers mounted on a rotating disk,
the scale factor of four accelerometers arranged on the rotating disc at the time t-1 is shown; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f3(gc(t-1)) represents the adjustment of the accelerometer scaling factor at time t, which is gc(t-1);
2) detecting phase angle phi of rotating disk of gravity gradiometer of rotating accelerometer at time ttCalculating the quadrature amplitude modulation carrier sin phi at the time tt，sin2φt，cosφt，cos2φt(ii) a Detecting the acceleration a of the gravity gradiometer of the rotary accelerometer at the time tx(t),ay(t),az(t); detecting the angular velocity and the angular acceleration omega of the gravity gradiometer of the rotating accelerometer at the moment tx(t),ωy(t),ωz(t),ωax(t),ωay(t),ωaz(t)；
Calculate class 3 line at time t according toMotion error compensation signal CL1(t),CL2(t),CL3(t):
Calculating a 3-class angular motion error compensation signal C at time t according to the following formulaA1(t),CA2(t),CA3(t):
3) Calculating the total linear motion error compensation signal C at the time t according to the working mode of the linear motion error compensation signal generation moduleL(t)：
In the non-compensation mode, CL(t)＝0；
In compensation mode, CL(t)＝CL1(t)+CL2(t)+CL3(t)；
Calculating the total angular motion error compensation signal C at the time t according to the working mode of the angular motion error compensation signal generation moduleA(t)：
In the non-compensation mode, CA(t)＝0；
In normal mode, CA(t)＝CA1(t)+CA2(t)+CA3(t)；
In calibration mode, CA(t)＝CA2(t)+CA3(t)；
Calculating the self-gradient compensation signal C at the time t according to the working mode of the self-gradient compensation signal generation modulesg(t)：
In the case of the compensation mode,
in the non-compensation mode, Csg(t)＝0；
In the formulaIs t atThe attitude angle of the gravity gradiometer, P is a parameter of the self-gradient model,is the output from the inline channel of the gradient model, which is a function of the attitude angle,
is the output from the cross channel of the gradient model, which is a function of the attitude angle;
4) performing linear motion error compensation, angular motion error compensation and self-gradient compensation on gravity gradiometer signals g (t) containing linear motion errors, angular motion errors and self-gradients at the time t according to the following formula;
gc(t)＝g(t)-CL(t)-Csg(t)-CA(t)
in the formula gc(t) is gravity gradiometer signal compensated at time t, g (t) is gravity gradiometer signal including linear motion error, angular motion error, and self-gradient at time t, CL(t) is the total line motion error compensation signal at time t, Csg(t) is the self-gradient compensation signal, CA(t) is the total angular motion error compensation signal at time t.
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