CN109471191B - Aviation gravity measurement method and equipment - Google Patents
Aviation gravity measurement method and equipment Download PDFInfo
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- CN109471191B CN109471191B CN201811348976.2A CN201811348976A CN109471191B CN 109471191 B CN109471191 B CN 109471191B CN 201811348976 A CN201811348976 A CN 201811348976A CN 109471191 B CN109471191 B CN 109471191B
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Abstract
The embodiment of the invention relates to gravity measurement and discloses a method and equipment for aerial gravity measurement. The method for measuring the aviation gravity, provided by the embodiment of the invention, is applied to an aviation gravity measuring device and comprises the following steps: acquiring the position of a point to be measured according to an aerial survey route, and flying to the point to be measured; under the condition that the test block is in a relative static state with the point to be tested, releasing the test block at the point to be tested, and detecting displacement data and time data of the test block in a vacuum falling body space, wherein the vacuum falling body space is positioned in the aviation gravity measurement device; and calculating the absolute gravity value of the point to be measured according to the displacement data and the time data. The embodiment of the invention can quickly and accurately measure the gravity in the air near the ground, and improves the accuracy of aviation gravity measurement.
Description
Technical Field
The embodiment of the invention relates to the field of gravity measurement, in particular to a method and equipment for aerial gravity measurement.
Background
The aviation gravity measurement is a gravity measurement method for measuring the gravity anomaly in the near-earth air by using an airplane as a carrier and using a relative gravimeter. Because the aircraft is used as a carrier for gravity measurement, the aerial gravity measurement is suitable for areas which are difficult to reach by measuring personnel on roads such as swamps, mountains, land-water intersections and the like.
The current mode for acquiring the gravity acceleration of a measurement position by aviation gravity measurement is as follows: the gravity acceleration of the measuring position can be obtained by measuring the total acceleration including the gravity acceleration, the carrier motion acceleration and other disturbance accelerations relative to a gravimeter, and adding a correction value after subtracting the value of the motion acceleration of the carrier from the total acceleration.
The inventor finds that at least the following problems exist in the prior art: the current aviation gravity measurement usually adopts a relative gravity measurement mode, and the relative gravity measurement can only obtain the relative variation of gravity, but can not obtain the absolute value of gravity, so that the absolute value of gravity of a measured ground can not be directly determined; and the relative gravimeter for measuring the relative gravity is easily influenced by temperature and air pressure to cause the problem of zero drift of measurement, so that the measured gravity is inaccurate and the measuring speed is slow. Meanwhile, the motion acceleration of the carrier needs to be subtracted when the gravity is measured by adopting a relative gravity measurement mode, but the motion acceleration of the carrier (airplane) cannot be measured accurately at present, so that the precision of the gravity measurement can only reach the milli-gal (mGal) level, and accurate gravity data cannot be better provided for geodetic measurement and earthquake prediction.
Disclosure of Invention
The invention aims to provide a method and equipment for measuring aviation gravity, which can quickly and accurately measure the gravity in the air near the ground and improve the accuracy of aviation gravity measurement.
In order to solve the above technical problem, an embodiment of the present invention provides an aviation gravity measurement method, which is applied to an aviation gravity measurement device, and includes: acquiring the position of a point to be measured according to an aerial survey route, and flying to the point to be measured; under the condition that the test block is in a relative static state with the point to be tested, releasing the test block at the point to be tested, and detecting displacement data and time data of the test block in a vacuum falling body space, wherein the vacuum falling body space is positioned in the aviation gravity measurement device; and calculating the absolute gravity value of the point to be measured according to the displacement data and the time data.
Embodiments of the present invention also provide an airborne gravimetry apparatus, including: the system comprises a rotor wing, a main body, a main control module and an absolute gravity measuring device; the main control module is respectively and electrically connected with the rotor wing and the absolute gravity measuring device, and the rotor wing, the main control module and the absolute gravity measuring device are arranged on the main body; the main control module acquires the position of the point to be measured according to the aerial survey route, controls the rotor wing to rotate and drives the main body to fly to the point to be measured; the main control module releases a test block in the absolute gravity measuring device at the point to be measured under the condition that the main body and the point to be measured are detected to be in a relative static state, and detects displacement data and time data of the test block in a vacuum falling body space, wherein the vacuum falling body space is positioned in the absolute gravity measuring device; and the main control module calculates the absolute gravity value of the point to be measured according to the displacement data and the time data.
Compared with the prior art, the embodiment of the invention acquires the position of the point to be measured according to the preset aerial measurement route, flies the point to be measured, and does not need to manually control the aerial gravity measurement device to fly to the point to be measured, so that manual operation is reduced, and the speed of the whole gravity test is increased; in the process of gravity measurement, the whole aviation gravity measurement device and the point to be measured are in a relatively static state, and the absolute gravity value of the point to be measured is calculated directly through displacement data and time data of the test block in a vacuum falling body space, so that the self acceleration of the aviation gravity measurement device cannot be added in the process of gravity measurement, the accuracy of the calculated absolute gravity value is improved, meanwhile, manual operation is not needed in the whole measurement process, and the problem of inaccurate measurement caused by manual operation is avoided.
In addition, before acquiring the position of the point to be measured according to the aerial survey route and flying to the point to be measured, the aerial gravity survey method further comprises the following steps: prestoring position information of at least one point to be measured; and setting an aerial survey route according to the position information of each point to be measured. Through the position information of each point to be measured, the aerial survey route can be set according to different principles (such as shortest route) to ensure that different measurement requirements are met.
In addition, a test block is released at a point to be tested, and displacement data and time data of the test block in a vacuum falling body space are detected, and the method specifically comprises the following steps: releasing the test block from the vacuum falling body space at the point to be tested, and starting the laser interference device; and detecting displacement data and time data of the test block generated in the vacuum falling space by a laser interference device. The laser interference device is started while the test block is released, and displacement data and time data of the test block generated in the vacuum falling body space can be accurately detected through the laser interference device.
In addition, after flying to the point to be measured and before the point to be measured releases the test block, the method for aeronautical gravity measurement further comprises the following steps: collecting inclination angle data between the horizontal plane and the ground plane; and adjusting the inclination angle with the horizontal plane according to the inclination angle data, and keeping the aviation gravity measurement device to be relatively static with the horizontal plane where the point to be measured is located in the gravity measurement direction. The aviation gravity measuring device is kept vertical to the horizontal plane where the point to be measured is located in the gravity measuring direction, and the accuracy of gravity measurement can be improved.
In addition, after the absolute gravity value of the point to be measured is calculated according to the displacement data and the time data, the aviation gravity measurement method further comprises the following steps: and detecting whether the unmeasured point to be measured exists in the aerial survey route, if so, acquiring the position information of the next point to be measured, flying to the next point to be measured, and measuring the absolute gravity value of the next point to be measured. By detecting whether unmeasured points to be measured exist or not, each point to be measured can be measured according to the flight path, manual setting is not needed, manual operation is further reduced, and measuring efficiency is improved.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a detailed flow chart of a method for airborne gravity measurement according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of interference fringes produced by a laser interference device according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for airborne gravimetry according to a second embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an airborne gravimetry apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an airborne gravity measurement device according to a fourth embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to an aviation gravity measurement method, which is applied to an aviation gravity measurement device for gravity measurement. The specific flow of the method for airborne gravity measurement is shown in fig. 1.
Step 101: and acquiring the position of the point to be measured according to the aerial survey route, and flying to the point to be measured.
In a specific implementation, before the position of the point to be measured is obtained, the position information of at least one point to be measured is prestored; and setting an aerial survey route according to the position information of each point to be measured.
Specifically, an engineer can store the position information of at least one point to be measured into the aviation gravity measurement device according to actual measurement needs, wherein the position information of each point to be measured can include longitude and latitude information of the point to be measured, and certainly, the position information can further include altitude information and the like of the point to be measured. And the air route for aviation gravity measurement can be directly set according to the longitude and latitude information of each point to be measured. It is understood that the flight path for the aviation gravity measurement can be set according to practical application, for example, if the flight path of all the points to be measured needs to be measured is shortest, the flight path is set according to the shortest path principle, and if the gravity measurement needs to be performed according to the marking sequence of the measurement points, the flight path is set according to the marking sequence of the measurement points.
After the aviation gravity measurement route is set, acquiring the position information of the point to be measured on the aviation gravity measurement route according to the measurement requirement, and flying to the position of the point to be measured according to the planned route.
Step 102: and under the condition of being in a relative static state with the point to be measured, releasing the test block at the point to be measured, and detecting the displacement data and the time data of the test block in a vacuum falling body space, wherein the vacuum falling body space is positioned in the aviation gravity measuring device.
Specifically speaking, the aviation gravity measuring device flies by adopting the rotor wings, the number of the rotor wings can be one or more than two, and it can be understood that a plurality of rotor wings can be arranged for enabling the aviation gravity measuring device to stably hover at a specified aerial position, the aviation gravity measuring device in the embodiment adopts 4 rotor wings, and the 4 rotor wings are arranged according to a square or parallelogram pattern. Of course, the rotor may be disposed in other stable structures, and the present embodiment is not limited thereto. Wherein, install the test piece in this vacuum falling body space, the test piece can be the pyramid prism.
In a specific implementation, the absolute gravity measuring device further comprises a laser interference device, and the laser interference device is used for emitting laser. In the process of absolute gravity measurement, releasing a test block from a vacuum falling body space at a point to be measured, and starting a laser interference device; and detecting displacement data and time data of the test block generated in the vacuum falling space by a laser interference device.
Specifically, a beam of laser of the laser interference device irradiates on a falling pyramid prism, so that interference fringes generated by the laser interference device when the pyramid prism freely falls contain functions of displacement and time change when the pyramid prism freely falls, and therefore displacement data and time data when the pyramid prism freely falls can be completely measured. The process of generating the interference fringes by the laser interference device in this embodiment is not described herein again.
Step 103: and calculating the absolute gravity value of the point to be measured according to the displacement data and the time data.
The process of calculating the absolute gravity value of the point to be measured will be described in detail below:
during the process of releasing and falling of the test block, the measured displacements are respectively D1、D2And D3Corresponding to a displacement time of T1、T2And T3(ii) a The interference fringes produced by the laser interference device are shown in FIG. 2, and are assumed to be at T according to the free-fall motion equation1The angular prism velocity is V0Then T is1To T2Time of day with a time difference of T2-T1The distance of fall is Deltad1＝D2-D1In the same way, T1To T3Time of day with a time difference of T3-T1The distance of fall is Deltad2＝D3-D1Wherein Δ d1And Δ d2May be one or more wavelengths lambda (the wavelength of the laser light emitted by the laser interference device is known), then T1To T2The time can be given by equation (1):
in the same way, T1To T3Formula (2) available at any moment
Combining equation (1) and equation (2), eliminating V0Obtaining the acceleration g, in particular eliminating V0The process of (a) is not described in detail in this embodiment.
Compared with the prior art, the embodiment of the invention acquires the position of the point to be measured according to the set aerial measurement route, flies the point to be measured, and does not need to manually control the aerial gravity measurement device to fly to the point to be measured, so that manual operation is reduced, and the speed of the whole gravity test is accelerated; in the process of gravity measurement, the whole aviation gravity measurement device and the point to be measured are in a relatively static state, and the absolute gravity value of the point to be measured is calculated directly through displacement data and time data of the test block in a vacuum falling body space, so that the self acceleration of the aviation gravity measurement device cannot be added in the process of gravity measurement, the accuracy of the calculated absolute gravity value is improved, meanwhile, manual operation is not needed in the whole measurement process, and the problem of inaccurate measurement caused by manual operation is avoided.
A second embodiment of the invention relates to a method of airborne gravity measurement. The second embodiment is a further improvement of the first embodiment, and the main improvements are as follows: in the second embodiment, after flying to the point to be measured and before the point to be measured releases the test block, the method for measuring the aviation gravity further comprises the step of adjusting the inclination angle between the device and the horizontal plane, and keeping the aviation gravity measuring device vertical to the horizontal plane where the point to be measured is located in the gravity measuring direction. The specific flow of the method for airborne gravity measurement is shown in fig. 3.
Step 201: and acquiring the position of the point to be measured according to the aerial survey route, and flying to the point to be measured.
Step 202: and collecting inclination angle data between the horizontal plane and the ground plane.
Specifically, the aviation gravity measuring device is provided with inclination detection devices, and the inclination detection devices detect the inclination angle of the aviation gravity measuring device between the aviation gravity measuring device and the horizontal plane in real time, wherein at least 2 inclination detection devices can be arranged, in the embodiment, two inclination detection devices are taken as an example for explanation, and the two inclination detection devices can be arranged at different positions of the aviation gravity measuring device.
Step 203: and adjusting the inclination angle with the horizontal plane according to the inclination angle data, and keeping the aviation gravity measurement device vertical to the horizontal plane where the point to be measured is located in the gravity measurement direction.
Specifically, if two inclination detection devices are arranged at different positions of the aviation gravity device, the inclination angle data detected by the two inclination detection devices can be compared, if the two inclination angle data are the same or approach to the same, the rotation speed of each rotor wing is continuously kept, and if the two inclination angle data are determined to be obviously different, the rotation speed of the rotor wings can be adjusted, so that the inclination angle data output by the two inclination detection devices are the same, the aviation gravity measurement device is ensured to keep stable flight, and meanwhile, the aviation gravity measurement device can be ensured to be perpendicular to the horizontal plane where the point to be measured is located in the gravity measurement direction.
If only one inclination detection device is arranged, inclination angle data detected by the inclination detection device is obtained, and when the difference between the inclination angle data and the preset inclination angle data is larger than a preset threshold value, the rotation speed of the rotor wing is controlled, so that the inclination angle of the aviation gravity measurement device and the horizontal plane is adjusted, and the aviation gravity measurement device is ensured to be vertical to the horizontal plane where the point to be measured is located in the gravity measurement direction.
Step 204: and under the condition of being in a relative static state with the point to be measured, releasing the test block at the point to be measured, and detecting the displacement data and the time data of the test block in a vacuum falling body space, wherein the vacuum falling body space is positioned in the aviation gravity measuring device.
Step 205: and calculating the absolute gravity value of the point to be measured according to the displacement data and the time data.
Step 206: and (4) detecting whether an unmeasured point to be measured exists in the aerial survey route, if so, executing the step 207, and otherwise, ending the gravity measurement process.
Specifically, after the absolute gravity value of the point to be measured is calculated, the absolute gravity value of the point to be measured is recorded, the point to be measured is marked as measured, the aerial gravity measurement device is prevented from repeatedly performing gravity measurement on the same point to be measured, and resource waste is avoided. Therefore, after the absolute gravity value of the point to be measured is detected once, whether the point to be measured which is not measured exists in the aerial survey route is judged. If so, go to step 207.
Step 207: and acquiring the position information of the next point to be measured, flying to the next point to be measured, and measuring the absolute gravity value of the next point to be measured.
Specifically, according to the measuring sequence, the position information of the next point to be measured is obtained, the step of measuring the absolute gravity value of the point to be measured is repeated, and the absolute gravity value of the next point to be measured is measured.
It should be noted that step 201, step 204, and step 205 in this embodiment are substantially the same as step 101, step 102, and step 103 in the first embodiment, and will not be described again here.
According to the aviation gravity measurement method provided by the embodiment, whether the unmeasured points to be measured exist or not is detected, each point to be measured can be measured according to the flight path, manual setting is not needed, manual operation is further reduced, and the measurement efficiency is improved. Meanwhile, before the absolute gravity measurement is carried out on the point to be measured, the inclination angle of the point to be measured and the horizontal plane is adjusted according to the inclination angle, and the aviation gravity measurement device is kept perpendicular to the horizontal plane where the point to be measured is located, so that the accuracy of the absolute gravity measurement is ensured.
A third embodiment of the present invention relates to an airborne gravimetry apparatus comprising: rotor 301, main part 302, master control module 303 and absolute gravity measurement device 304. The specific structure of the aeronautical gravity measurement device is shown in fig. 4.
The main control module 303 is electrically connected to the rotor 301 and the absolute gravity measuring device 304 respectively (a specific connection relationship is not shown in fig. 4), and the rotor 301, the main control module 303 and the absolute gravity measuring device 304 are disposed on the main body 302; the main control module 303 acquires the position of the point to be measured according to the aerial survey route, controls the rotor wing 301 to rotate, and drives the main body 302 to fly to the point to be measured; under the condition that the main control module 303 detects that the main body 302 and the point to be measured are in a relative static state, releasing a test block in the absolute gravity measuring device 304 at the point to be measured, and detecting displacement data and time data of the test block in a vacuum falling space, wherein the vacuum falling space is positioned in the absolute gravity measuring device 304; the main control module 303 calculates the absolute gravity value of the point to be measured according to the displacement data and the time data. Wherein, the test block can be a pyramid prism.
In the embodiment, the rotor 301 arranged on the main body 302 enables the whole airborne gravity measurement device to hover in the air, so that the absolute gravity measurement device 304 can measure the gravity in the near-ground air conveniently.
The rotor 301 mounted on the main body 302 may be one or more; in order to ensure the stability of the flight of the whole airborne gravimetry equipment, at least 2 rotors 301 are provided, and as shown in fig. 4, 4 rotors 301 are provided on a main body 302. Simultaneously, in order to improve the flexibility of whole aviation gravity measurement's equipment, rotor 301 and main part 302 can adopt self-locking formula calliper to be connected, are convenient for set up the number of rotor 301 in a flexible way.
In one specific implementation, the absolute gravity measurement device 304 includes: a vacuum drop space 3041, a test block (not shown in fig. 4), and a laser interference device 3042; the test block is located in the vacuum falling space 3041, and in the falling process of the test block, the main control module 303 controls the laser interference device 3042 to emit laser to the test block; the main control module 303 obtains displacement data and time data in the vacuum falling space 3041 of the test block according to the laser emitted from the laser interference device 3042.
It should be noted that the airborne gravity measurement apparatus further includes a vibration isolation device 305; a vibration isolation device 305 is located below the absolute gravity measuring device 304 to prevent the test mass from shaking during its fall.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
A fourth embodiment of the invention relates to an airborne gravimetric measurement device. The fourth embodiment is a further improvement of the third embodiment, and the main improvements are as follows: in the fourth embodiment of the present invention, the aviation gravity measurement device further includes an inclination detection apparatus 306, and the specific structure of the aviation gravity measurement device is shown in fig. 5.
The tilt detection device 306 is electrically connected with the main control module 303 (a specific connection relationship is not shown in fig. 5), and the tilt detection device 306 is disposed on the main body; the inclination detection device 306 acquires inclination angle data between the main body 302 and the horizontal plane and transmits the inclination angle data to the main control module 303; the main control module 303 receives the tilt angle data acquired by the tilt detection device, controls the rotor 301 according to the tilt angle data, adjusts the tilt angle between the main body 302 and the horizontal plane, and keeps 302 the main body vertical to the horizontal plane where the point to be measured is located in the gravity measurement direction.
The inclination detection device 306 may be an inclination sensor, and it is understood that a high-precision inclination sensor should be selected as the inclination detection device 306 in the aviation gravity measurement device, the inclination detection device 306 is electrically connected to the main control module 303 in the main body 302, and the main control module 303 may obtain inclination angle data detected by the inclination detection device 306 in real time, or obtain inclination angle data detected by the inclination detection device 306 when the main body 302 hovers at a point to be measured.
If two inclination detection devices 306 are arranged at different positions of the aviation gravity device, the main control module 303 determines whether the difference between the two received inclination angle data is 0 or approaches to 0, if so, the main control module 303 stops adjusting the rotation speed of the rotor 301, otherwise, the main control module controls the rotation speed of the rotor 301, so that the main body 302 is perpendicular to the horizontal plane of the point to be measured in the gravity measurement direction.
If only one inclination detection device 306 is arranged, the main control module 303 obtains inclination angle data detected by the inclination detection device 306, and when the difference between the inclination angle data and the preset inclination angle data is larger than a preset threshold value, the main control module 303 controls the rotation speed of the rotor 301, so as to adjust the inclination angle of the aviation gravity measurement device and the horizontal plane, and ensure that the aviation gravity measurement device is vertical to the horizontal plane of the place to be measured in the gravity measurement direction.
According to the aviation gravity measurement equipment provided by the embodiment, a set of closed-loop feedback system is formed among the inclination detection device, the main control module and the rotor wing electrically connected with the main control module, so that the main control module can adjust the rotation speed of the rotor wing according to the inclination angle data output by the inclination detection device, and the inclination angle between the aviation gravity measurement device and the horizontal plane where the point to be measured is located in the gravity measurement direction is adjusted to be a vertical angle, so that the accurate positioning of the aviation gravity measurement equipment in the gravity measurement direction is realized, and the accuracy of gravity measurement of the aviation gravity measurement equipment is greatly improved.
Those skilled in the art can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. An aviation gravity measurement method is characterized by being applied to aviation absolute gravity measurement and comprising the following steps:
acquiring the position of a point to be measured according to an aerial survey route, and flying to the point to be measured;
acquiring inclination angle data between the absolute gravity measuring device and a horizontal plane, adjusting the inclination angle between the absolute gravity measuring device and the horizontal plane according to the inclination angle data, and keeping the absolute gravity measuring device vertical to the horizontal plane where the point to be measured is located in the gravity measuring direction;
under the condition that the point to be measured is in a relative static state, releasing a test block from a vacuum falling space at the point to be measured, and starting a laser interference device; detecting displacement data and time data of the test block in a vacuum falling body space through the laser interference device, wherein the vacuum falling body space is located in the aviation gravity measurement device;
calculating the absolute gravity value of the point to be measured according to the displacement data and the time data;
the calculation of the absolute gravity value of the point to be measured specifically comprises the following steps:
during the process of releasing and falling of the test block, the measured displacements are respectively D1、D2And D3Corresponding to a displacement time of T1、T2And T3(ii) a At T1The angular prism velocity is V0Then T is1To T2Time of day with a time difference of T2-T1The distance of fall is Deltad1＝D2-D1，T1To T3Time of day with a time difference of T3-T1The distance of fall is Deltad2＝D3-D1；
And (3) combining the formula (1) and the formula (2), calculating to obtain an acceleration g, and calculating the absolute gravity value of the point to be measured according to the acceleration g.
2. The airborne gravity measurement method according to claim 1, wherein before acquiring the position of the point to be measured according to an airborne survey route and flying to the point to be measured, the airborne gravity measurement method further comprises:
prestoring position information of at least one point to be measured;
and setting the aerial survey route according to the position information of each point to be measured.
3. The airborne gravity measurement method according to claim 1, wherein after calculating the absolute gravity value of the point to be measured from the displacement data and the time data, the airborne gravity measurement method further comprises:
and detecting whether the unmeasured point to be measured exists in the aerial survey route, if so, acquiring the position information of the next point to be measured, flying to the next point to be measured, and measuring the absolute gravity value of the next point to be measured.
4. An airborne gravimetry device, for airborne absolute gravimetry, comprising: the system comprises a rotor wing, a main body, a main control module and an absolute gravity measuring device;
the main control module is respectively and electrically connected with the rotor wing and the absolute gravity measuring device, and the rotor wing, the main control module and the absolute gravity measuring device are arranged on the main body;
the main control module acquires the position of a point to be measured according to a preset measuring route, controls the rotor wing to rotate and drives the main body to fly to the point to be measured;
the main control module collects inclination angle data between the main control module and a horizontal plane, adjusts the inclination angle between the main control module and the horizontal plane according to the inclination angle data, and keeps the absolute gravity measuring device vertical to the horizontal plane where the point to be measured is located in the gravity measuring direction;
the main control module releases a test block in the absolute gravity measuring device from a vacuum falling space at the point to be measured and starts a laser interference device under the condition that the main body and the point to be measured are detected to be in a relative static state; detecting displacement data and time data of the test block in a vacuum falling body space through the laser interference device, wherein the vacuum falling body space is positioned in the absolute gravity measuring device;
the main control module calculates the absolute gravity value of the point to be measured according to the displacement data and the time data;
the calculation of the absolute gravity value of the point to be measured specifically comprises the following steps:
the displacement of the test block during the release fallAre respectively D1、D2And D3Corresponding to a displacement time of T1、T2And T3(ii) a At T1The angular prism velocity is V0Then T is1To T2Time of day with a time difference of T2-T1The distance of fall is Deltad1＝D2-D1，T1To T3Time of day with a time difference of T3-T1The distance of fall is Deltad2＝D3-D1；
And (3) combining the formula (1) and the formula (2), calculating to obtain an acceleration g, and calculating the absolute gravity value of the point to be measured according to the acceleration g.
5. Airborne gravimetry apparatus according to claim 4, characterized in that the absolute gravimetry device comprises: the device comprises a vacuum falling body space, a test block and a laser interference device;
the main control module controls the laser interference device to emit laser to the test block in the falling process of the test block;
and the master control module acquires the displacement data and the time data in the vacuum falling space of the test block according to the laser emitted by the laser interference device.
6. The airborne gravity measurement apparatus according to claim 5, further comprising a tilt detection device;
the inclination detection device is electrically connected with the main control module and is arranged on the main body;
the inclination detection device acquires inclination angle data between the main body and a horizontal plane and transmits the inclination angle data to the main control module;
the main control module receives the inclination angle data acquired by the inclination detection device, controls the rotor wing according to the inclination angle data, adjusts the inclination angle between the main body and the horizontal plane, and keeps the main body vertical to the horizontal plane where the point to be measured is located in the gravity measurement direction.
7. The airborne gravity measurement apparatus according to any of the claims 4-6, further comprising: a vibration isolation device;
the vibration isolation device is positioned below the absolute gravity measuring device and used for isolating vibration in the measuring process.
8. The airborne gravity measurement apparatus according to claim 7, wherein the test block is a pyramid cube.
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| CN107121708B (en) * | 2017-05-25 | 2023-08-08 | 清华大学 | Absolute gravity measurement system and measurement method |
| RU2663542C1 (en) * | 2017-06-07 | 2018-08-07 | Анатолий Борисович Попов | Interferometer of absolute gravimeter |
| CN108507576B (en) * | 2018-03-27 | 2020-06-30 | 中国自然资源航空物探遥感中心 | Three-dimensional flight path planning method for aerial gravity measurement in middle and high mountainous areas |
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| CN102323624A (en) * | 2011-08-05 | 2012-01-18 | 清华大学 | Absolute gravity measuring system and measuring method as well as falling method of free-falling body |
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