CN109212619B - Device and method for compensating linear motion error of gravity gradiometer of rotating accelerometer - Google Patents
Device and method for compensating linear motion error of gravity gradiometer of rotating accelerometer Download PDFInfo
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Abstract
The invention discloses a device and a method for compensating linear motion error of a gravity gradiometer of a rotary accelerometer, wherein the device comprises a linear motion detection module for detecting the acceleration of the gravity gradiometer in real time; the reference signal generating module is used for generating a quadrature amplitude modulation carrier wave in real time; the linear motion error transfer coefficient processing module is used for carrying out real-time fine adjustment on the linear motion error transfer coefficient according to the fed-back compensated gravity gradiometer signal; the linear motion error compensation signal generation module generates a linear motion error compensation signal according to an input acceleration signal of the gravity gradiometer, a quadrature amplitude modulation carrier wave and a linear motion error transfer coefficient; and the self-gradient compensation signal generation module generates a self-gradient compensation signal according to the posture of the gravity gradiometer. The method compensates before the signal demodulation of the gravity gradiometer, can compensate the linear motion error and the self-gradient of the gravity gradiometer, and can solve the problems of overvoltage circuit saturation and overvoltage circuit damage caused by the self-gradient and the linear motion error of the gravity gradiometer.
Description
Technical Field
The invention relates to a device and a method for compensating linear motion errors of a gravity gradiometer of a rotary accelerometer, 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 and self gradients of a gravity gradiometer in real time, and no public reports about the linear motion errors and self gradients real-time compensation device and technology of the gravity gradiometer are provided at present.
Disclosure of Invention
The technical problem is as follows: the invention provides a rotary accelerometer gravity gradiometer line motion error compensation device capable of compensating measurement errors caused by gravity gradiometer line motion, which can inhibit the influence of environmental factors such as temperature, electromagnetic field and the like on the line motion error transmission coefficient of the gravity gradiometer and can avoid overvoltage saturation and overvoltage damage of a gravity gradiometer front end signal conditioning circuit caused by acceleration of the gravity gradiometer. The invention also provides a linear motion error compensation method of the gravity gradiometer of the rotating accelerometer, which realizes the effect and solves the problem.
The technical scheme is as follows: the invention relates to a linear motion error compensation device of a gravity gradiometer of a rotary accelerometer, which comprises:
the linear motion detection module is used for detecting the acceleration of the gravity gradiometer;
a reference signal generation module for generating a quadrature amplitude modulated carrier;
the linear motion error transfer coefficient processing module is used for fine-adjusting the linear motion error transfer coefficient in real time according to the fed-back compensated gravity gradiometer signal;
the linear motion error compensation signal generation module is used for generating a linear motion error compensation signal according to the acceleration signal of the gravity gradiometer, the quadrature amplitude modulation carrier and the linear motion error transfer coefficient;
the self-gradient compensation signal generation module is used for generating a self-gradient compensation signal according to the posture of the gravity gradiometer;
the compensation operation module is used for compensating gravity gradiometer signals containing linear motion errors and self gradients according to the linear motion error compensation signals and the self gradient compensation signals;
the output of the line motion detection module is connected to the input of the line motion error compensation signal generation module; the output of the reference signal generation module is connected to the input of the linear motion error compensation signal generation module and the self-gradient compensation signal generation module; the input of the linear motion error transfer coefficient processing module is connected to the output of the compensation operation module, and the output of the linear motion error transfer coefficient processing module is connected to the input of the linear motion error compensation signal generation module; and the outputs of the linear motion error compensation signal generation module and the self-gradient compensation signal generation module are connected to the input of the compensation operation module.
Furthermore, in the device of the present invention, the linear motion detection module includes an accelerometer and a low pass filter, the accelerometer is installed on the x-axis, the y-axis and the z-axis of the measurement coordinate system of the gravity gradiometer, and measures the acceleration a of the measurement coordinate system of the gravity gradiometerx,ay,az(ii) a The low-pass filter filters out high-frequency noise in the acceleration signal.
Furthermore, in the device of the present invention, the reference signal generating module comprises a gravity gradiometer rotating disc shaft encoder and a signal generator, and the gravity gradiometer rotating disc shaft encoder detects a phase angle phi of rotation of a gravity gradiometer disctSaid 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 linear motion error transfer coefficient processing module includes a linear motion error transfer coefficient input module and a linear motion error transfer difference coefficient adjustment module, and the linear motion error transfer coefficient input module inputs an initial value of a linear motion error transfer coefficient:
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 a linear motion error transmission difference 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 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 signal generation module has two operation modes: non-compensated mode, compensated mode; in non-compensation mode, yieldGenerated total line motion error compensation signal C at time tL(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 device of the present invention, the self-gradient compensation signal generation module includes an attitude input module, a self-gradient model parameter input module, a quadrature amplitude modulation carrier input module, and a self-gradient signal generation module; the attitude input module acquires attitude data of the gravity gradiometer in real time; the self-gradient model parameter input module is used for setting an initial value of a self-gradient model parameter; the quadrature amplitude modulation carrier input module is used for inputting a quadrature amplitude modulation carrier of a self-gradient signal; the self-gradient signal generation module generates a self-gradient compensation signal according to the input self-gradient model parameters, the attitude of the gravity gradiometer and the quadrature amplitude modulation signal; the self-gradient compensation signal generation module has two working modes: a compensation mode and a non-compensation mode; in the compensation mode, the output C of the self-gradient compensation signal generation modulesg(t) is:
the output in uncompensated mode is:
Csg(t)＝0
in the formula (I), the compound is shown in the specification,
the attitude of the gravity gradiometer at the moment t, and P is a self-gradient model parameter of the gravity gradiometer;
the self-gradients of the Inline channel and the cross channel of the gravity gradiometer at the time t are respectively; sin2 phit,cos2φtIs the quadrature amplitude modulated carrier at time t.
Furthermore, in the device of the present invention, the compensation operation module compensates the output of the gravity gradiometer according to the self-gradient compensation signal and the linear motion error compensation signal.
The invention discloses a method for compensating linear motion errors of a gravity gradiometer of a rotary accelerometer, which comprises the following steps of:
1) according to the working mode, calculating a linear motion error transfer coefficient at the time t:
adjusting mode:
non-adjustment mode:
in the formulaRepresenting the line motion error transfer coefficient at the time t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f (g)c(t-1)) is the fine tuning quantity of the motion error transfer coefficient of the reticle at 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 a rotational accelerometer gravity gradiometer at time tAcceleration a ofx(t),ay(t),az(t)；
3) Calculating a class 3 line motion error compensation signal C at time t according to the following formulaL1(t),CL2(t),CL3(t)：
4) Calculating the total linear motion error compensation signal C at the time t according to the working modeL(t)：
In the non-compensation mode, CL(t)＝0；
In compensation mode, CL(t)＝CL1(t)+CL2(t)+CL3(t)；
5) According to the working mode, calculating a self-gradient compensation signal C at the time tsg(t)：
In the case of the compensation mode,
in the uncompensated mode, the output in the uncompensated mode is:
Csg(t)＝0
6) performing linear motion error and self-gradient compensation on a gravity gradiometer signal g (t) containing linear motion error and self-gradient at the time t according to the following formula;
gc(t)＝g(t)-CL(t)-Csg(t)
in the formula gc(t) is the gravity gradiometer signal compensated at time t, g (t) is the gravity gradiometer signal with linear 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;
furthermore, in the method of the present invention, in the step 1), the line motion error transfer coefficient at the time when t is 0
Are all obtained by calibration.
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 capable of compensating linear motion error and self-gradient of a gravity gradiometer in real time, which can fine-tune a linear motion error transfer coefficient in real time according to a feedback compensated gravity gradiometer signal, can offset the influence of environmental factors of the gravity gradiometer such as temperature, magnetic field and the like on the linear motion error transfer coefficient of the gravity gradiometer, can compensate measurement error caused by linear motion of the gravity gradiometer, and improve the measurement accuracy of the gravity gradiometer. Because the gravity gradiometer linear motion error signal and the self-gradient signal are subjected to quadrature amplitude modulation, and the signal before demodulation of the gravity gradiometer is directly compensated, the problems of overvoltage saturation and overvoltage damage of a front-end signal conditioning circuit caused by acceleration and self-gradient of the gravity gradiometer can be solved.
Drawings
FIG. 1 is a schematic diagram of a linear motion error and self-gradient real-time compensation device of a gravity gradiometer of a rotary accelerometer.
FIG. 2 schematic view of a rotational accelerometer gravity gradiometer line motion sensor installation
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1, the device for compensating linear motion error of a gravity gradiometer of a rotary accelerometer of the invention comprises a linear motion detection module, a reference signal generation module, a linear motion error transfer coefficient processing module, a linear motion error compensation signal generation module, a self-gradient compensation signal generation module, a compensation operation module, a gravity gradiometer accelerometer signal processing module, and a gravity gradient signal recovery module.
The linear motion detection module is used for providing an acceleration signal of the gravity gradiometer for the linear motion error compensation signal generation module; the accelerometer consists of an accelerometer and a low-pass filter; as shown in FIG. 2, the accelerometers are arranged on the x-axis, y-axis and z-axis of the measurement coordinate system of the gravity gradiometer, and the acceleration a of the measurement coordinate system of the gravity gradiometer is measuredx,ay,az(ii) a The low-pass filter filters out high-frequency noise in the acceleration signal.
A reference signal generating module for generating a quadrature amplitude modulation carrier to provide a quadrature amplitude modulation signal for the line motion error compensation signal generating module; the reference signal generating module consists of a gravity gradiometer rotating disc shaft encoder and a signal generator; gravity gradiometer disc rotation phase angle phi detected by gravity gradiometer disc rotation disc shaft encodertThe signal generator being dependent on the phase angle phitGenerating a quadrature amplitude modulated carrier sin phit，sin2φt，cosφt，cos2φt。
The linear motion error transmission coefficient processing module is used for providing a linear motion error coefficient for the linear motion error compensation signal generating module; the linear motion error transmission coefficient processing module consists of a linear motion error transmission coefficient input module and a linear motion error transmission difference coefficient adjusting module; line motion error transfer coefficient input module, input line motion error transfer coefficient initial value:
a linear motion error transmission difference coefficient adjusting module for adjusting the linear motion error transmission difference coefficient according to the feedback compensated gravity gradiometer signal gc(t) and operating mode, fine tuning line motion error propagation difference coefficient
Linear motion error transferThe two working modes of the coefficient processing module are as follows: an adjustment mode and a non-adjustment mode; the adjustment of the linear motion error transfer coefficient in these two modes of operation is as follows:
adjusting mode:
non-adjustment mode:
a linear motion error compensation signal generation module for generating a linear motion signal a according to the gravity gradiometerx(t),ay(t),az(t), quadrature amplitude modulated carrier sin2 φt,cos2φt,sinφt,cosφtLinear motion error transfer coefficient
Generating a total line motion error compensation signal C at time tL(t); the line motion error compensation signal generation module has 2 working modes, a non-compensation mode and 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:
a self-gradient compensation signal generation module having two working modes, a compensation mode and a non-compensation mode, in which the self-gradient compensation signal C is generatedsg(t) is:
in the non-compensation mode, a self-gradient compensation signal C is generatedsg(t) is: csg(t)＝0。
And the gravity gradiometer accelerometer signal processing module is used for processing output signals of four accelerometers arranged on a rotating disc of the gravity gradiometer to obtain gravity gradiometer signals g (t) containing linear motion errors and self-gradients.
A compensation operation module for compensating signal C according to total line motion error at time tL(t), self-gradient compensation signal Csg(t) performing linear motion error compensation on the gravity gradiometer signal g (t) containing the linear motion error according to the following formula:
gc(t)＝g(t)-CL(t)-Csg(t)
compensated gravity gradient signal gc(t) is fed back to the linear motion error transfer coefficient processing module for real-time adjustment of the linear motion error transfer coefficient of the gravity gradiometer and simultaneous compensation of the gravity gradient signal gcAnd (t) inputting the gravity gradient signal recovery module, and demodulating and outputting the gravity gradient signal.
Claims (9)
1. A device for compensating for linear motion error of a gravity gradiometer of a rotary accelerometer, the device comprising:
the linear motion detection module is used for detecting the acceleration of the gravity gradiometer;
a reference signal generation module for generating a quadrature amplitude modulated carrier;
the linear motion error transfer coefficient processing module is used for fine-adjusting the linear motion error transfer coefficient in real time according to the fed-back compensated gravity gradiometer signal;
the linear motion error compensation signal generation module is used for generating a linear motion error compensation signal according to the acceleration signal of the gravity gradiometer, the quadrature amplitude modulation carrier and the linear motion error transfer coefficient;
the self-gradient compensation signal generation module is used for generating a self-gradient compensation signal according to the posture of the gravity gradiometer;
the compensation operation module is used for compensating gravity gradiometer signals containing linear motion errors and self gradients according to the linear motion error compensation signals and the self gradient compensation signals;
the output of the line motion detection module is connected to the input of the line motion error compensation signal generation module; the output of the reference signal generation module is connected to the input of the linear motion error compensation signal generation module and the self-gradient compensation signal generation module; the input of the linear motion error transfer coefficient processing module is connected to the output of the compensation operation module, and the output of the linear motion error transfer coefficient processing module is connected to the input of the linear motion error compensation signal generation module; and the outputs of the linear motion error compensation signal generation module and the self-gradient compensation signal generation module are connected to the input of the compensation operation module.
2. The apparatus of claim 1, wherein the apparatus comprises: the linear motion detection module comprises an accelerometer and a low-pass filter, 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 the acceleration a of the measurement coordinate system of the gravity gradiometer is measuredx,ay,az(ii) a The low-pass filter filters out high-frequency noise in the acceleration signal.
3. The apparatus of claim 1, wherein the apparatus comprises: the reference signal generating module comprises a gravity gradiometer rotating disc shaft encoder and a signal generator, wherein the gravity gradiometer rotating disc shaft encoder detects a 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。
4. A rotary accelerometer gravity gradiometer line motion 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 coefficient input module and a linear motion error transfer coefficient adjusting module, wherein the linear motion error transfer coefficient input module inputs an initial value of a linear motion error transfer coefficient: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 a linear motion error transmission difference 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 operating in the unregulated mode, the line motion error transfer system remains unchanged.
5. A rotary accelerometer gravity gradiometer line motion error compensation device according to claim 1, 2 or 3, wherein: the line motion error compensation signal generation module has two operating 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.
6. A rotary accelerometer gravity gradiometer line motion error compensation device according to claim 1, 2 or 3, whereinThe method comprises the following steps: the self-gradient compensation signal generation module comprises an attitude input module, a self-gradient model parameter input module, an orthogonal amplitude modulation carrier input module and a self-gradient signal generation module; the attitude input module acquires attitude data of the gravity gradiometer in real time; the self-gradient model parameter input module is used for setting an initial value of a self-gradient model parameter; the quadrature amplitude modulation carrier input module is used for inputting a quadrature amplitude modulation carrier of a self-gradient signal; the self-gradient signal generation module generates a self-gradient compensation signal according to the input self-gradient model parameters, the attitude of the gravity gradiometer and the quadrature amplitude modulation signal; the self-gradient compensation signal generation module has two working modes: a compensation mode and a non-compensation mode; in the compensation mode, the output C of the self-gradient compensation signal generation modulesg(t) is:
the output in uncompensated mode is:
Csg(t)＝0
in the formula (I), the compound is shown in the specification,
the attitude of the gravity gradiometer at the moment t, and P is a self-gradient model parameter of the gravity gradiometer;
the self-gradients of the Inline channel and the cross channel of the gravity gradiometer at the time t are respectively; sin2 phit,cos2φtIs the quadrature amplitude modulated carrier at time t.
7. A rotary accelerometer gravity gradiometer line motion error compensation device according to claim 1, 2 or 3, wherein: and the compensation operation module compensates the output of the gravity gradiometer according to the self-gradient compensation signal and the linear motion error compensation signal.
8. A method for compensating linear motion error of a gravity gradiometer of a rotary accelerometer is characterized by comprising the following steps:
1) according to the working mode, calculating a linear motion error transfer coefficient at the time t:
adjusting mode:
non-adjustment mode:
in the formulaRepresenting the line motion error transfer coefficient at the time t-1; gc(t-1) representing the gravity gradiometer signal compensated at time t-1; f (g)c(t-1)) is the fine tuning quantity of the motion error transfer coefficient of the reticle at 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)；
3) Calculating a class 3 line motion error compensation signal C at time t according to the following formulaL1(t),CL2(t),CL3(t)：
4) Calculating the total linear motion error compensation signal C at the time t according to the working modeL(t)：
In the non-compensation mode, CL(t)＝0；
In compensation mode, CL(t)＝CL1(t)+CL2(t)+CL3(t)；
5)According to the working mode, calculating a self-gradient compensation signal C at the time tsg(t)：
In the case of the compensation mode,
in the uncompensated mode, the output in the uncompensated mode is:
Csg(t)＝0
6) performing linear motion error and self-gradient compensation on a gravity gradiometer signal g (t) containing linear motion error and self-gradient at the time t according to the following formula;
gc(t)＝g(t)-CL(t)-Csg(t)
in the formula gc(t) is the gravity gradiometer signal compensated at time t, g (t) is the gravity gradiometer signal with linear 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.
9. The method for compensating for linear motion error of a gravity gradiometer of a rotary accelerometer according to claim 8, wherein in step 1), the linear motion error transfer coefficient at the time t-0
Are all obtained by calibration.
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