AU1429099A - Air-borne gravity and differential gravity surveying system - Google Patents

Description

ii Regulatiun 3.2

AUSTRALIA

Patents Act 1952 COMPLETE

SPECIFICATION

FOR A STANDARD

PATENT

(ORIGINAL)

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1 me Name of Applicant: Canagrav Research Ltd.

505-1140 15th Avenue S.W., Calgary, Alberta T2R 1K6,

CANADA

i i Actual Inventor: Jerry R. PANENKA Address for Service: DAVIES COLLISON CAVE, Patent Attorneys, 1 Little Collins Street, Melbourne, 3000.

Air-Borne Gravity and Differential Gravity Surveying System Invention Title: The following statement is a full description of this invention, including the best method of performing it known to us: P:\QPER\GC?%74S50 .D1V- 29/1199 2 AIR-BORNE GRAVITY AND DIFFERENTIAL

GRAVITY

SURVEYING

SYSTEM

This invention relates to improvements of conventional air-borne gravity survey systems, and (2) development of a novel type of air-borne gravity survey system, namely a "differential gravity" system, for the survey of earth formations along the flight path of an air-borne .vehicle.

Background of the Invention Conventional air-borne gravity survey systems use a |modified ship-borne gravity meter (which includes a vertical axis gravity meter installed on a gimballed stabilised platform which contains accelerometers and gyroscopes) as well Ias an independent non-inertial positioning reference, like a satellite-based Differential Global Positioning System (AGPS) often in combination with a barometric altimeter, installed f onboard an aircraft or a helicopter. An example of such installations is that developed by Carson Helicopters of Perkasie, Penn. as disclosed in U.S. Patent No. 4,435,981.

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i: 1 3 Any linear accelerometer, including a gravity meter, when installed on a moving platform, such as an aircraft, helicopter, airship, etc. will record the sum of platform motion acceleration, which is the noise, and gravity acceleration, which is the signal. Motion acceleration noise is typically four-to-five orders of magnitude stronger than the gravity signal. Both spectra strongly overlap. Hence platform motion accelerations must be determined by non-inertial means, with the help of an independent vertical reference level.

For ship-borne gravity, this vertical reference level is sea level; for off-shore air-borne gravity, it 15 is derived from a radar or laser altitude above sea level. Above land mass this reference can be provided Ii "'by an extremely accurate electronic navigation system, like a Differential Global Positioning System (AGPS), often employed in combination with a high-resolution S 20 barometric altimeter.

i I Double differentiation of the vertical position of the aircraft with time will yield vertical motion acceleration, which, after subtraction from the total inertial acceleration, will yield gravity acceleration.

The main problem of conventional systems, however, is to obtain a resolution of at least one milligal with r 1 r 4 at most one minute averaging time, such parameters being desirable for petroleum exploration. One milligal is equivalent to the very small acceleration of 10-cm/sec 2

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common way around this problem is to increase the averaging time to, for example, 60 seconds (as the expense of spatial resolution). This relaxes the vertical reference resolution requirement to 602 3600 x 10-3cm 3.6cm per milligal per minute. The latest differential GPS data are beginning to approach this figure. A one minute averaging time, however, represents an approximately 3.3km spatial resolution at slow aircraft surveying speed; or half of that if a more expensive, slower flying helicopter is used. This is already acceptable for petroleum surveys but too coarse for mining and groundwater surveys.

Aircraft or helicopters are relatively noisy platforms for onboard gravity installations- In addition to vibration and other noise, inflight vertical accelerations in survey regime typically reach .2G, which is 104-10 higher than gravity acceleration changes.

20 Moreover, a one milligal gravity anomaly can be caused by a 10m topographic high ridge (or valley). Hence topographic .contours for a one milligal survey should be known to better than 5m. The standard procedure subtracts radar altitude from AGPS or Baro-altimeter elevation to yield the terrain profile. In forested areas, this value is degraded by unknown ii tree heights which may introduce errors in excess of one milligal.

Statement of the Invention It is one object of the present invention to provide an.

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air-borne gravity surveying system which overcomes the above drawbacks- According to the present invention there is provided a system which measures at least vertical gravity differences over a distance of several hundred metres to several r' kilometres along the flight path of a helicopter or any other aircraft including: a) two acceleration/gravity sensor assemblies each including an inertial measurement unit (IMU) containing accelerometers and gyroscopes and a differential global positioning system, each sensor assembly being capable of acquiring at least the vertical components of motion acceleration and gravity, each sensor assembly being: (1) installed in a towed body suspended on a cable at a predetermined vertical distance from each other, or (2) mounted one onboard an aircraft and the other suspended from the aircraft at a predetermined vertical distance, or mounted onboard or towed behind and below separate aircraft flying one above the other at a predetermined vertical distance; b) means for continuously measuring at least the vertical distance between the two sensor assemblies; and c) means for subtracting at least the vertical component of motion acceleration and gravity of the two sensor assemblies and dividing the difference by the measured i distance between the sensor assemblies to provide at 20 least normalised vertical gravity differences.

The inertial measurement unit (IMU) may be of a type manufactured by Honeywell Inc., Clearwater, Florida.

S; The IMU unit replaces the gravity meter on a stabilised platform as used in conventional systems.

The IMU consists of one or more vertical (Z) accelerometers and at least one pair of orthogonal

(XY)

Shorizontal accelerometers combined with at least two gyroscopes for attitude control.

The IMU provides, in addition to the Z component of linear acceleration, the X and Y components and tilts relative to the inertial frame of reference. The availability of X and Y components of acceleration is useful to correct for the coupling of horizontal accelerations into the vertical accelerometer channel when this channel is not perfectly aligned with the vertical direction.

The IMU can also supply magnitude of the linear acceleration vector from which the magnitude of the linear motion acceleration vector (as measured by AGPS) can be

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S- 6 'B subtracted to yield the gravity vector magnitude.

IThe IMU may be installed onboard of an aircraft, or in a I towed body ("bird") suspended from an aircraft where it is subjected to lower inflight accelerations.

The IMU can be either strapped down or, if lower noise is Srequired, installed on an active isolation table, controlled perotion in the Shulerby feedback from such IMU, capable of operation in the Shuler tuned mode.

The "bird" may be stabilised with active control surfaces, such as wings and a drag tail.

The aircraft may also be stabilised by towing a dummy "bird".

If necessary, terrain contour data for gravity terrain corrections may be acquired with sufficient precision even in forested area using, for example, a laser ranger or scanner.

In order to suppress chaotic noise, two or more IMU's can r' be used in an aircraft installation.

It is another object of the present invention to provide a novel "differential gravity" system.

The "differential gravity" system uses two acceleration/ gravity sensor assemblies (AGSA), each preferably containing S at least one IMU as disclosed above, each sensor assembly containing accelerometers and gyroscopes capable of acquiring at least the vertical but preferably all three components of i total inertial linear as well as angular accelerations. Both AGSA's can be installed in separate towed bodies suspended on :t a cable from an aircraft at a predetermined distance from each other, or one AGSA can be mounted onboard an aircraft and the other suspended on a cable from the aircraft, or mounted onboard or towed behind and below separate aircraft flying either one above the other or in tandem at a predetermined vertical or horizontal distance, respectively. The differential gravity surveying system further includes means for constantly monitoring vertical and horizontal distances

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between the two sensor assemblies (preferably using laser ranging device and/or differential GPS) and means for subtracting the respective vertical and, optionally, horizontal components of motion acceleration and gravity of the two sensor assemblies and dividing the difference by the respective distance between the sensor assemblies to provide normalized gravity difference along the respective directions.

The advantage of the "Differential Gravity" over present "Gravity" systems is that the difference in gravity sensor positions can be measured to at least one order better resolution than the absolute position of a single gravity sensor using different-ial GPS alone.

Since positioning error is the dominant source of error 15 in air-borne gravity, improvement in positioning accuracy directly translates directly into improved resolution of gravity information. Furthermore, the system can operate with a ranging device only, and thus independently of GPS, should GPS become unusable for this purpose.

The vertical and/or horizontal distance between the two AGSA's may be measured by a laser or microwave range measuring device, which consists of a transmitter at one sensor assembly and a reflective surface located at the other sensor assembly. The vertical and horizontal 'distance between the two sensor assemblies may also be a 8,

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ii 9- "z 8 i measured by a differential Global Positioning System (AGPS) having an antenna at each sensor location, as well as, optionally, a barometric altimeter.

The system can be operated, at lower resolution, with AGPS only. In this case, the x, y, z position difference between the two sensor assemblies is monitored. A second AGPS antennae serves as a mobile "base station" for the first one. The distance between the two moving sensor assemblies, (length of the "baseline") is thus reduced, from several hundred kilometres for a typical regional air-borne gravity survey, to a maximum of several kilometres. Since a large portion of AGPS positioning error is expressed as S- a percentage of the baseline length, the result is a 15 substantial improvement in the relative position resolution and thus differential gravity signal.

Short Description of the Drawings S The invention will now be disclosed, by way of example, with reference to the accompanying drawings in S 20 which: Figure 1 shows an embodiment of an air-borne Sgravity survey system; Figures 2a and 2b show first and second embodiments of a "Differential Gravity" System using acceleration/gravity sensor assemblies (AGSA), in towed bodies ("birds") suspended several hundred meters from a Ii Ir

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It It I r ~an _4 helicopter or an aircraft, or mounted one in the aircraft and the other suspended from the aircraft, respectively; Figures 3a, and 3b show third and fourth embodiments using sensor assemblies mounted on-board of separate aircraft flying one or more kilometres above or behind each other; and Figure 4 shows sensor assemblies installed in towed bodies, flown suspended behind and below the 10 aircraft.

Detailed Description of Preferred Embodiments Before proceeding with the detailed description of a few embodiments of the invention let us provide the following well-known definitions: 15 Gravity Potential........T Gravity Vector T i T(x, y, z) Gravity Vector magnitude ITil (T 2 T/ T.2) T Tx.

Gravity Gradient Tensor Ti, Ty T y T Ta Tiy .T Ti, Tji As mentioned previously, an IMU, unlike a conventional gravity meter, can provide all three components of linear as well as angular acceleration.

In addition, the IMU can measure the magnitude of a total acceleration vector from which the magnitude of t ii

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Bi

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total gravity vectorjT (T 2 Ty 2

T,

2 can be derived. TI can provide valuable redundancy to T, since ITi anomalies have similar amplitudes and shapes to T..

Subtracting geometrically T, and T, (where Tx Txdz where z_ is a reference flight

Z,

altitutde) from ITil yields an estimate of absolute value of IT, A simplified procedure can be used at the peaks and troughs of anomalies of Ti| and where and T x 0. At these locations ITyI IT. T The sign of Ty can be estimated from values of T and ITj on adjacent lines. Knowledge of ITjI values allows better contouring and-improves detectability of-targets not 15 directly overflown.

Referring to Figure 1, there is shown an acceleration/gravity sensor assembly (AGSA) 1 mounted on a stabilized platform 2 on board an aircraft. The sensor assembly- includes at least one IMU containing accelerometers and gyroscopes capable of providing all three components.of total inertial linear as well as angular accelerations, and a differential global positioning system (AGPS) including antennas 3 capable of providing the location of the aircraft. Also mounted on board of the aircraft is a laser ranger/profiler to provide distance or terrain contour data as illustrated ,r I I 1 i

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11 by dashed lines 2 or B.

Referring now to Figures 2 to 4 of the drawings there are shown systems comprising two sensor assemblies AGSA, and AGSA 2 which constitute variations of "Differential Gravity" systems. In Figure 2a, sensor S' assemblies AGSA, and AGSA 2 are installed in towed bodies ("bird') 6 and 7 suspended on a cable from a helicopter, and spaced several hundred or more meters apart. Towed bodies 6 and 7 are stabilized with drag tails 8.

The vertical spacing between the two sensor assemblies AGSA,, and AGSA 2 is being constantly monitored by, for example, one or more laser ranger Smeasuring devices, such as the G510 Laser Ranger (produced by Optech Systems Corp., Downsview, Ont.) 15 located at one AGSA with a small reflective device located at the other AGSA as illustrated by dashed line on Figures 2 4 and/or by a differential satellite Global Positioning System (GPS) with separate antennas S" at each AGSA (such as produced by the Ashtech Corp. of 20 Sunnyvale, CA), as well as at least one base station S antenna 5 located on the ground.

Terrain profile is being acquired with, for example, a laser profiler,..as illustrated with dashed line in Figures 2-4.

'25 The configuration illustrated in Figure 2a measures the following parameters:- I9 v

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T:

2 ITJ I- IT.I2 T:2 I T IT, 1 Terrain Profile or Scan Prefixes 1 and 2 refer to the above mentioned towed bodies.

Another embodiment, illustrated in Figure 2b, is with one sensor assembly AGSA: mounted on-board of an aircraft and the second AGSA 2 suspended on a cable in a "bird" where the cable length may exceed one kilometre.

The measurements taken are the same as in Figure 2a.

The other embodiments, illustrated in Figures 3a and 3b, may consist of two planes each equipped with a j \sensor assembly (AGSA,, AGSA 2 flying up to ten or even more kilometres above (Figure 3a) or behind (Figure 3b) each other, respectively. Optionally, the aircraft may be stabilized with dummy payload 9 and drag tails 8.

The vertical or horizontal spacing between the two planes would be monitored with the aid of one or more laser or microwave ranger measuring devices, mounted at one sensor assembly and a reflective device at the other sensor assembly, and/or by differential GPS.with antennas at each sensor assembly. The measurements taken in the embodiment of Figure 3a are the same as in Figures 2a or 2b. The measurements taken in Figure 3b are T, T, 2 TZ IT, I, Tjl,, ITilJ Tj 1 2- I Pi\Op ',,CCp\?455.DIV 29/1/99 13 In Figure 4, the sensor assemblies are installed in towed bodies ("birds") towed behind and below their respective aircrafts. The measurements takeniare the same as in Figures 2a, 2b or 3a.

In order to suppress chaotic noise, two or more IMU's can be used in an aircraft installation.

Inflight motion accelerations of the aircraft or "birds" must be kept minimal. This can be accomplished by one or more Sof the following: a) an autopilot controlled by the IMU for a minimum acceleration flight regime, b) towing heavy stabilising "bird" below the aircraft, c) a drag tail attached to the tail of the aircraft.

Although the invention has been disclosed, by way of example, with reference to preferred embodiments illustrated in the drawings, it is to be understood that it is not limited to such embodiments and that other alternatives are also Senvisaged within the scope of the following claims.

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Claims (4)

1. A system which measures at least vertical gravity differences over a distance of several hundred metres to several kilometres along the flight path of a helicopter or any other aircraft including: a) two acceleration/gravity sensor asseblies each including an inertial measurement unit (IMU) containing accelerometers and gyroscopes and a differential global positioning system, each sensor assembly being capable of acquiring at least the vertical components of motion acceleration and gravity, each sensor assembly being: (1) installed in a towed body suspended on a cable at a predetermined vertical distance from each other, or (2) mounted one onboard an aircraft and the other suspended S, from the aircraft at a predetermined vertical distance, or mounted onboard or towed behind and below separate aircraft flying one above the other at a predetermined .e vertical distance; 20 b) means for continuously measuring at least the vertical Sdistance between the two sensor assemblies; and c) means for subtracting at least the vertical component of motion acceleration and gravity of the two sensor assemblies and dividing the difference by the measured 2 25 distance between the sensor assemblies to provide at -least normalised vertical gravity differences.

2. A system as defined in claim l, wherein each IMU includes l one or more vertical accelerometers and at least one pair of orthogonal horizontal'accelerometers combined with at least two gyroscopes for attitude control.

3. A system as defined in claim 1, wherein the means for measuring at least the vertical distance between the two sensors is a laser or microwave ranger located at one sensor assembly and a reflective device located at the other sensor assembly. A P,\OPRR\GCF\745SO-DL 1IV

4. A System which measures at least vertical gravitY differences over a distance of several hundred metres to several kiloinetres along the flight path of a helicopter or any other aircraft substantially as hereinbefore described s with reference to the accompanlying drawings. DATED this 29th day of January, 1999 CANAGIRAV RESEARCH LTD. By its Patent Attorneys DAVIES COLLISON CAVE ii