CN112487604B - Long-time nonlinear drift compensation method for output data of marine gravimeter - Google Patents

Long-time nonlinear drift compensation method for output data of marine gravimeter Download PDF

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CN112487604B
CN112487604B CN202011162410.8A CN202011162410A CN112487604B CN 112487604 B CN112487604 B CN 112487604B CN 202011162410 A CN202011162410 A CN 202011162410A CN 112487604 B CN112487604 B CN 112487604B
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杨慧良
单瑞
梁杰
杨源
杜润林
孙建伟
刘李伟
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Qingdao Institute of Marine Geology
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Abstract

The invention discloses a long-time nonlinear drift compensation method for output data of a marine gravimeter, which is characterized in that gravity data of marine gravity measurement operation of a ship-borne gravimeter is taken as a basis, satellite gravity data of a measurement area is calculated according to longitude and latitude information of the measured gravity data, the frequency spectrum characteristic of marine measured gravity data and the frequency spectrum characteristic of the satellite gravity data of the measurement area are analyzed, a low-pass filter is established on the basis of the frequency characteristic of the satellite gravity data, the collected marine measured gravity data is filtered to obtain marine gravity data with the same frequency spectrum characteristic as the satellite gravity data, and finally a nonlinear drift gravity data source of the marine ship-borne gravimeter measured gravity data is obtained; and then establishing a nonlinear target equation based on a nonlinear drift gravity data source of the actually measured gravity data, solving by adopting a nonlinear Gauss-Newton method to obtain a final nonlinear compensation coefficient, and compensating the data of the shipborne gravimeter, thereby effectively improving the precision of collecting the gravity data.

Description

Long-time nonlinear drift compensation method for output data of marine gravimeter
Technical Field
The invention relates to the field of processing of output data of a marine gravimeter, in particular to a long-time nonlinear drift compensation method for output data of a marine gravimeter based on satellite gravity data.
Background
The zero drift is a phenomenon that the zero of the initial reading of the gravimeter is continuously changed due to the aging of main components of a sensitive system of the gravimeter and the gradual mechanical fatigue of other components, and is called zero drift or failure for short. The null shift is a big inherent defect of the relative gravimeter, almost all the relative gravimeters exist, but different individual gravimeters have different null shift change rules, and the mastering of the change rules is very important and difficult work.
The conventional zero drift compensation method is characterized in that the zero drift compensation systems of different instruments and equipment are calculated to correct the zero drift through observing and calculating the zero drift rate in unit time for a long time on the basis of mathematical statistics on the characteristics of components of each marine dynamic gravimeter. The statistical method based on a large number of tests is difficult to meet the application requirements of the marine gravimeter. With the rapid development of the measurement technology of the marine dynamic gravimeter, various data preprocessing methods of the marine dynamic gravimeter are mature, and correction means such as early correction, vertical disturbance acceleration correction, horizontal disturbance acceleration correction and Booth correction are mature.
At present, the problem which puzzles the core problem of marine gravity data processing is the nonlinear drift problem of a marine gravimeter, various filtering means can basically eliminate external and internal high-frequency interference, the interference basically cannot influence the precision and the use of the gravimeter, and the low-frequency part in a gravity abnormal signal measured by the gravimeter is difficult to strip and becomes a main error source, and the precision of marine gravity measurement is seriously influenced. The separation of low frequency errors is very difficult, the noise and useful information are basically overlapped, and the conventional frequency domain means can not play the role of eliminating the noise.
The zero drift characteristic of the gravimeter is determined by the internal physical properties of internal components of the gravimeter, and no effective method is available for reducing the error interference. The conventional method is to construct a corresponding compensation model by observing an instrument for a long time, and the method has its own limitations, and needs to observe and analyze each device for a long time to determine the error compensation model, which limits the application of the gravimeter to a great extent, and cannot ensure the real-time measurement accuracy of the gravimeter.
Disclosure of Invention
The invention provides a long-time nonlinear drift compensation method for marine gravimeter output data based on satellite gravity data, which is based on gravity data measured by a shipborne gravimeter along with a ship, utilizes the stable characteristic that the satellite gravity data has no long-time drift to carry out nonlinear compensation on the marine gravimeter output data, effectively eliminates error influence caused by an external unstable measurement environment, and obtains high-precision marine gravity measurement result data.
The invention is realized by adopting the following technical scheme: a long-time nonlinear drift compensation method for output data of a marine gravimeter comprises the following steps:
step S1, based on the marine actual measurement gravity data of marine gravity measurement operation of the shipborne gravimeter, calculating satellite gravity data of the measurement area according to longitude and latitude information, and analyzing to obtain a nonlinear drift gravity data source delta g of the actual measurement gravity data Drift of The method specifically comprises the following steps:
step S11, preprocessing the marine actually-measured gravity data, and eliminating the influence caused by an external dynamic environment to obtain actually-measured gravity abnormal data;
step S12, extracting longitude and latitude information from the marine actual measurement gravity data, constructing a global gravity field model based on the satellite gravity data, and calculating satellite gravity anomaly corresponding to the longitude and latitude information to further obtain satellite gravity data of a measurement area;
step S13, analyzing the frequency spectrum characteristics of the marine actually-measured gravity data and the frequency spectrum characteristics of the satellite gravity data in the measurement area, and establishing a low-pass filter based on the frequency characteristics of the satellite gravity data;
step S14, filtering the preprocessed actual measurement gravity abnormal data obtained in the step S11 according to a low-pass filter to obtain filtered actual measurement gravity abnormal data, wherein the filtered actual measurement gravity abnormal data and the satellite gravity data have the same frequency characteristics;
using on-board marine filtered measurements of the same frequency bandThe gravity abnormal data subtracts the satellite gravity data to obtain the nonlinear drift gravity data source delta g of the measured gravity data Drift of
And step S2, establishing a time variable-based nonlinear drift equation based on the nonlinear drift gravity data source of the measured gravity data, and performing solution analysis on the time variable-based nonlinear drift equation by adopting a nonlinear Gauss-Newton method to obtain a final nonlinear compensation coefficient, thereby realizing nonlinear drift compensation on the ship-borne gravimeter data.
3. The method for long-time nonlinear drift compensation of marine gravimeter output data according to claim 1, characterized in that: the step S2 includes the steps of:
step S21, obtaining the nonlinear drift gravity data source delta g based on the step S1 Drift of Taking time t as an independent variable and nonlinear drift gravity data source delta g Drift of Establishing a non-linear drift equation for the dependent variable:
Δg drift of ＝f(t) (4)
And S22, solving and analyzing the nonlinear drift equation to obtain a nonlinear compensation coefficient, estimating the nonlinear drift abnormality by using the obtained nonlinear compensation coefficient, and removing the nonlinear drift abnormality from the filtered marine measured gravity abnormality data.
Compared with the prior art, the invention has the advantages and positive effects that:
the scheme can be applied to the research of the nonlinear drift compensation of the marine gravity, the drift characteristic of output data measured by a gravimeter for a long time is analyzed, the nonlinear transformation characteristic of the output gravity data along with time is researched, the gravity anomaly of the nonlinear drift characteristic along with time change caused by the nonlinear characteristic of the gravimeter is extracted on the basis of the marine gravity data output by the gravimeter and the satellite gravity anomaly of the same sea area, a statistical nonlinear equation of the nonlinear drift gravity data and time under a low-frequency filtering scale is established, and a nonlinear compensation coefficient taking the time as input information is obtained through the inversion of the nonlinear equation, so that the nonlinear drift problem of the output data of the marine gravimeter is effectively solved;
meanwhile, uncertain noise caused by subtraction directly by using satellite gravity data in the prior art is eliminated, the stability of actually-measured gravity data is improved, high-precision voyage number survey result data with actual value is obtained, and the method has practical guiding significance and practical application value for marine geophysical survey, especially for marine gravity data measurement of deep sea voyage number.
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Fig. 1 is a schematic flow chart of a nonlinear drift compensation method according to an embodiment of the present invention;
FIG. 2 is a graph of the data after conventional null shift correction and the results of the established nonlinear drift fitting in this example;
FIG. 3 is a diagram illustrating the result of partial region gravity measurement after compensation for nonlinear drift.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and thus, the present invention is not limited to the specific embodiments disclosed below.
The embodiment discloses a long-time nonlinear drift compensation method for output data of a marine gravimeter, which is shown in fig. 1 as a schematic diagram of a compensation principle of the method, and specifically comprises the following steps:
taking a ship-borne gravimeter as an example, starting from a wharf, taking the position and time of actual measurement gravity measurement operation as a reference, taking the position and time of measurement completion as a termination, taking marine actual measurement gravity data of a measurement area and satellite gravity data based on longitude and latitude information as a basic data source, and obtaining a final nonlinear drift gravity data source, specifically comprising the following steps:
(1) the method comprises the steps of preprocessing original marine actual measurement gravity data actually measured by a shipborne gravimeter, eliminating influences brought by an external dynamic environment, and mainly comprising early Walsh correction, motion acceleration correction, normal gravity field correction, zero linear drift correction of instrument factory calibration and solid tide correction to obtain final actual measurement gravity abnormal data.
(2) And (3) extracting longitude and latitude information from the marine actual measurement gravity data, constructing a global gravity field model based on the satellite gravity data, and calculating satellite gravity anomaly corresponding to the longitude and latitude information.
Figure BDA0002744778960000031
Wherein r is the radial direction of the earth center,
Figure BDA0002744778960000032
is the geocentric latitude, theta is the remaining latitude,
Figure BDA0002744778960000033
λ is longitude; i.e. the outer points
Figure BDA0002744778960000034
GM is the product of the gravity constant G of the earth and the total mass M of the earth, a is the major semi-axis of the reference ellipsoid, n and M are positive integers, M is less than or equal to n,
Figure BDA0002744778960000035
and
Figure BDA0002744778960000036
in order to fully normalize the bit coefficients,
Figure BDA0002744778960000037
an associative legendre function that is fully normalized for order n, order m.
(3) For satellite gravity data Δ g Satellite Performing fast Fourier transform to obtain the frequency spectrum range of the main signal,
Figure BDA0002744778960000038
defining energy concentration frequency band f of satellite gravity data in frequency 1 ～f 2 And set up in this frequency rangeCounter corresponding low-pass digital filter FIR (f) 2 )。
(4) Using FIR (f) filters according to low-pass data 2 ) Filtering the actual measurement gravity anomaly data obtained after preprocessing to obtain filtered actual measurement gravity anomaly data, wherein the filtered actual measurement gravity anomaly data and the satellite gravity data have the same frequency characteristic;
analyzing the trend distribution characteristics of the original satellite gravity data and the filtered marine gravity data by adopting a trend analysis method, stripping system differences, and removing the satellite gravity data from the gravity abnormal data stripped by the filtering and the system differences to obtain a nonlinear drift gravity abnormal error source, namely:
Δg non-linear drift anomaly ＝Δg Gravity anomaly filtering -Δg Satellite ； (3)
Step two, on the basis of the measured gravity abnormal nonlinear drift gravity data source, establishing a nonlinear drift compensation model, reducing the influence of non-effective signal noise, and solving the influence caused by nonlinear drift, specifically comprising the following steps:
(5) calculating according to the step (3) and the step (4) to obtain gravity difference change caused by nonlinear drift of the instrument and equipment, and establishing a nonlinear drift equation by taking the time t as an independent variable and a nonlinear drift gravity data source as a dependent variable
Δg Drift of ＝f(t) (4)
Specifically, the starting point time t is measured by gravity 1 As a time starting point, an end point t is measured by gravity 2 As a time end point, establishing a corresponding data fitting equation delta g by taking the reciprocal delta t of the data output frequency of the gravimeter as a time point distance Non-linear drift anomaly F (n Δ t), n represents the number of time points;
(6) adopting an optimized mathematical processing method, namely a nonlinear Gauss Newton solving method, iteratively solving the established nonlinear drift equation until the data fitting error is less than 0.01mGal and meets the precision requirement, stopping iteration, and finally obtaining a nonlinear compensation coefficient; and finally, estimating the nonlinear drift abnormality by using the obtained nonlinear compensation coefficient to obtain the nonlinear drift abnormality, and improving the precision of the actually measured marine gravity data.
In the scheme of the embodiment, the problem that the gravimeter has obvious nonlinear drift in the marine measurement process is considered, the nonlinear drift compensation is carried out by utilizing the gravity data obtained by the actual measurement of the shipborne gravimeter for executing the field survey voyage number, and the abnormal and stable gravity area is selected for data verification. Taking nonlinear correction of certain voyage ship-borne measurement data as an example, see attached fig. 2 and fig. 3, based on the satellite gravity, an area with almost unchanged gravity is selected to verify the correctness of the method. After the actual measurement gravity data is preprocessed, the gravity abnormal data obtained after linear zero drift compensation is carried out, nonlinear fitting is carried out, because the gravity abnormality of the area is almost unchanged, the change of the area is completely caused by nonlinear drift (figure 2), and the stability of the data area (figure 3) after the nonlinear drift compensation is carried out by adopting the method provided by the patent is consistent with the actual situation; the experiment also further shows that the method can be suitable for the nonlinear drift compensation of the marine ship-borne gravity data, is easy to realize, and can meet the requirements of ship-borne gravity measurement users.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims (1)

1. The long-time nonlinear drift compensation method for the output data of the marine gravimeter is characterized by comprising the following steps of:
step S1, based on the marine actual measurement gravity data of marine gravity measurement operation of the ship-borne gravimeter, calculating satellite gravity data of the measurement area according to longitude and latitude information of the marine actual measurement gravity data, and analyzing to obtain a nonlinear drift gravity data source delta g of the actual measurement gravity data Drift of The method specifically comprises the following steps:
step S11, preprocessing the marine actually-measured gravity data, and eliminating the influence caused by an external dynamic environment to obtain actually-measured gravity abnormal data;
step S12, extracting longitude and latitude information from the marine actual measurement gravity data, constructing a global gravity field model based on the satellite gravity data, calculating satellite gravity anomaly corresponding to the longitude and latitude information, and further obtaining satellite gravity data delta g of the measurement area Satellite ；
Figure FDA0003595358160000011
Wherein r is the radial direction of the earth center,
Figure FDA0003595358160000012
is the geocentric latitude, theta is the remaining latitude,
Figure FDA0003595358160000013
λ is longitude; i.e. the outer points
Figure FDA0003595358160000014
GM is the product of the gravity constant G of the earth and the total mass M of the earth, a is the major semi-axis of the reference ellipsoid, n and M are positive integers, M is less than or equal to n,
Figure FDA0003595358160000015
and
Figure FDA0003595358160000016
in order to fully normalize the bit-coefficients,
Figure FDA0003595358160000017
an associated legendre function for an n-th order m-level full normalization;
step S13, analyzing the frequency spectrum characteristics of the marine actually-measured gravity data and the frequency spectrum characteristics of the satellite gravity data in the measurement area, and establishing a low-pass filter based on the frequency characteristics of the satellite gravity data;
step S14, filtering the preprocessed actual measurement gravity abnormal data obtained in the step S11 according to a low-pass filter to obtain filtered actual measurement gravity abnormal data, wherein the filtered actual measurement gravity abnormal data and the satellite gravity data have the same frequency characteristics;
subtracting satellite gravity data from the measured gravity abnormal data after the marine shipborne filtration of the same frequency band to obtain a nonlinear drift gravity data source delta g of the measured gravity data Drift of ；
Step S2, establishing a time variable-based nonlinear drift equation based on the nonlinear drift gravity data source of the measured gravity data, solving and analyzing the equation to obtain a final nonlinear compensation coefficient, and further realizing the nonlinear drift compensation of the shipborne gravimeter data, wherein the method specifically comprises the following steps:
step S21, obtaining the nonlinear drift gravity data source delta g based on the step S1 Drift of Taking time t as an independent variable and nonlinear drift gravity data source delta g Drift of Establishing a non-linear drift equation for the dependent variable:
Δg drift of ＝f(t) (4)
And S22, solving and analyzing the nonlinear drift equation to obtain a nonlinear compensation coefficient, estimating the nonlinear drift abnormality by using the obtained nonlinear compensation coefficient, and removing the nonlinear drift abnormality from the filtered marine measured gravity abnormality data.
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