CN116009103A - Strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation - Google Patents
Strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation Download PDFInfo
- Publication number
- CN116009103A CN116009103A CN202210801406.4A CN202210801406A CN116009103A CN 116009103 A CN116009103 A CN 116009103A CN 202210801406 A CN202210801406 A CN 202210801406A CN 116009103 A CN116009103 A CN 116009103A
- Authority
- CN
- China
- Prior art keywords
- gravity
- meter
- strapdown
- initial
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The application relates to a strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation. The method comprises the following steps: judging the current state of the gravity meter through an autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result; carrying out gravity measurement by using a strapdown dynamic gravity measurement system, and calculating according to high-precision speed, position and gesture information to obtain an original gravity anomaly value; filtering according to the low-pass filter to obtain an effective gravity anomaly result; constructing an accelerometer drift model of the current voyage according to an initial specific force and a final specific force; and calibrating the effective gravity anomaly result by using an initial section of the gravity value of the initial tangential specific force, the tangential accelerometer drift model and the onshore datum point of the gravity meter to obtain a final gravity measurement result. The method can realize the strapdown dynamic gravity measurement of the water surface/underwater mixed operation.
Description
Technical Field
The application relates to the technical field of gravity measurement, in particular to a strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation.
Background
The ocean gravity field has extremely important roles in researches in the earth science and relevant disciplines, has great influence on the operational effectiveness of remote strategic weaponry, has remarkable economic benefit, scientific research and military application value when being finely measured, and can be used for ocean geographic environment construction, naval future operations, ocean resource exploration and the like.
The current means for obtaining high-precision marine global gravity data are shipborne gravity measurement and underwater dynamic gravity measurement. As an important component of the ocean exploration equipment, the strapdown dynamic gravity measurement system for the water surface/underwater hybrid operation can accurately measure the gravity field information of the water surface and the water, and construct a gravity field model of the ocean universe. In the prior literature, the underwater dynamic gravimeter and the shipborne gravimeter are two independent instruments, the shipborne gravimeter only measures the water surface gravity value, the underwater dynamic gravimeter only measures the underwater gravity value, and the shipborne gravity data processing method and the underwater gravity data processing method are two independent systems, and no strapdown dynamic gravity measurement method capable of realizing water surface/underwater mixed operation is provided.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, apparatus, computer device, and storage medium for strapdown dynamic gravity measurement of water surface and underwater hybrid operations that enable strapdown dynamic gravity measurement of water surface/underwater hybrid operations.
A strapdown dynamic gravity measurement method for a hybrid surface and underwater operation, the method comprising:
acquiring a gravity value of an onshore datum point of the gravity meter;
static data acquisition and noise filtering are carried out on the weather accelerometer before navigation according to the gravity meter, so that an initial section of weather specific force is obtained;
judging the current state of the gravity meter through an autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result;
carrying out gravity measurement by using a strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information;
calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value;
filtering the original gravity abnormal value according to the low-pass filter to obtain an effective gravity abnormal result;
collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an accelerometer drift model of the current voyage according to an initial specific force and a final specific force;
and calibrating the effective gravity anomaly result by using an initial section of the gravity value of the initial tangential specific force, the tangential accelerometer drift model and the onshore datum point of the gravity meter to obtain a final gravity measurement result.
In one embodiment, the current state of the gravity meter is judged by the autonomous detection system in the sea navigation process, and a strapdown gravity measurement system on the water surface or under water is constructed according to the judgment result, and the strapdown gravity measurement system comprises:
presetting a threshold value of the depth gauge to be 1.1 in the sea navigation process, and if the pressure value P of the depth gauge is DG Not less than 1.1, and the number N of satellites received by the satellite receiver<4, judging that the gravity meter is underwater;
if the pressure value P of the depth gauge DG <1.1, or the satellite number N received by a satellite receiver is more than or equal to 4, and judging that the gravity meter is on the water surface.
In one embodiment, when the gravity meter is detected to be on the water surface, the gravity meter is taken as a main navigation system, and the GNSS is taken as an observed quantity to construct a strapdown dynamic gravity measurement system on the water surface;
when the gravity meter is detected to be under water, judging the bottom height output Alt of the Doppler velocimeter, and if Alt=0, taking the gravity meter as a main navigation system, and constructing an underwater strapdown dynamic gravity measurement system by taking the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter as observational quantities; if Alt is not equal to 0, the gravity meter is taken as a main navigation system, and the speed of the Doppler velocimeter, the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter are taken as observational quantities to construct an underwater strapdown dynamic gravity measurement system.
In one embodiment, the calculation is performed according to the high-precision speed, position and gesture information to obtain the original gravity anomaly value, including:
when the gravity meter is on the water surface, calculating according to the high-precision speed, position and attitude information to obtain an original gravity abnormal value of
Wherein f U Is the natural specific force; v (V) E 、V N The east speed and the north speed are respectively; r is R N 、R M The radii of the mortise circle and the meridian circle are respectively; l is the geographic latitude; h is height/depth; gamma is a normal gravity value related to latitude; omega is the earth rotation angular velocity.
In one embodiment, when the gravity meter is under water, the original gravity anomaly value is obtained by calculating according to the high-precision speed, position and attitude information
Wherein, gamma w Correcting for the gravity gradient under water.
In one embodiment, constructing an accelerometer drift model for a current voyage based on an initial and final specific force comprises:
constructing an accelerometer drift model of the current voyage according to a section of initial specific force and a section of final specific force as follows
Δ＝a 0 +a 1 (t-t 0 )+a 2 (t-t 0 ) 2
Wherein delta is the amount of gravity gauge day-to-accelerometer drift; a, a 0 、a 1 And a 2 Parameters of a gravity meter heaving accelerometer long-term drift model; t is the time point of the measuring line, f s0 、f s1 、f s2 …f sn All represent any one of a section of initial specific force, t s0 、t s1 、t s2 …t sn Represents f s0 、f s1 、f s2 …f sn Corresponding test time, t 0 Indicating the start time, f 0 Indicating the start time t 0 Is a natural force, f e0 、f e1 、f e2 …f en Represents any one of a plurality of final specific forces, t e0 、t e1 、t e2 …t en Represents f e0 、f e1 、f e2 …f en Corresponding test time.
In one embodiment, the calibration of the effective gravity anomaly results using a segment of initial gravity, an accelerometer drift model and a gravity value of an onshore reference point of the gravity meter, to obtain final gravity measurements, comprises:
calibrating the effective gravity anomaly result by using an initial section of the natural specific force and the natural accelerometer drift model to obtain a final gravity measurement result
Wherein, the liquid crystal display device comprises a liquid crystal display device,
mean value of initial aspect ratio to obtain static aspect ratio measurement value g b Representing the gravity value of the onshore datum of the gravimeter.
A strapdown dynamic gravity measurement device for surface and underwater hybrid operations, the device comprising:
the initial section of the initial direction-of-day specific force detection module is used for acquiring a gravity value of an onshore datum point of the gravity meter; static data acquisition and noise filtering are carried out on the weather accelerometer before navigation according to the gravity meter, so that an initial section of weather specific force is obtained;
the gravity meter state detection module is used for judging the current state of the gravity meter through the autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result;
the gravity measurement module is used for carrying out gravity measurement by utilizing the strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information; calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value;
the system comprises an accelerometer drift model construction module, a low-pass filter, a first-pass filter and a second-pass filter, wherein the accelerometer drift model construction module is used for filtering an original gravity abnormal value according to the low-pass filter to obtain an effective gravity abnormal result; collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an accelerometer drift model of the current voyage according to an initial specific force and a final specific force;
and the gravity anomaly result calibration module is used for calibrating the effective gravity anomaly result by utilizing the initial gravity value of the section of the initial gravity, the gravity value of the gravity reference point on the shore of the gravity meter and the initial gravity ratio, and obtaining the final gravity measurement result.
The strapdown dynamic gravity measurement method and device for the water surface and underwater mixed operation firstly acquire the gravity value of an onshore datum point of a gravity meter; static data acquisition and noise filtering are carried out on the weather accelerometer before navigation according to the gravity meter, so that an initial section of weather specific force is obtained; judging the current state of the gravity meter through an autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result; carrying out gravity measurement by using a strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information; calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value; filtering the original gravity abnormal value according to the low-pass filter to obtain an effective gravity abnormal result; collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an accelerometer drift model of the current voyage according to an initial specific force and a final specific force; and calibrating the effective gravity anomaly result by using an initial section of the gravity value of the initial tangential specific force, the tangential accelerometer drift model and the onshore datum point of the gravity meter to obtain a final gravity measurement result. According to the gravity measurement method, the current state of the gravity meter in the navigation process is used for real-time construction of the strapdown dynamic gravity measurement system on the water surface or underwater for gravity measurement, the initial specific gravity before the navigation and the final specific gravity after the navigation are used for constructing the drift model of the directional accelerometer, and the initial specific gravity, the drift model of the directional accelerometer and the gravity value of the on-shore datum point of the gravity meter are used for calibrating the effective gravity abnormal result, so that the dynamic gravity measurement on the water surface and underwater can be realized, the operation is simple, the implementation is easy, the universality is strong, and the accuracy of gravity measurement is improved.
Drawings
FIG. 1 is a diagram of an application scenario of a strapdown dynamic gravity measurement of a hybrid surface and underwater operation in one embodiment;
FIG. 2 is a block diagram of a strapdown dynamic gravity measurement device for surface and underwater hybrid operation in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a strapdown dynamic gravity measurement method for a water surface and underwater hybrid operation, comprising the steps of:
102, acquiring a gravity value of an onshore datum point of a gravity meter; and (3) carrying out static data acquisition and noise filtering on the pre-navigation sky-direction accelerometer according to the gravity meter to obtain an initial section of sky-direction specific force.
Before going out of the sea, the gravity meter collects static data of an astronomical accelerometer for at least 24 hours at a wharf, high-frequency noise is eliminated through low-pass filtering, an effective initial section of astronomical specific force is obtained, the initial section of astronomical specific force represents a set of a plurality of initial astronomical specific forces obtained when static data collection is carried out in continuous time, and gravity values of initial gestures, speeds and on-shore datum points are determined through static alignment of the gravity meter at the wharf and used for calibrating subsequent gravity measurement abnormal results, so that the accuracy of gravity measurement is improved.
And 104, judging the current state of the gravity meter through an autonomous detection system in the sea navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under water according to the judgment result.
Presetting a threshold value of the depth gauge to be 1.1 in the sea navigation process, and if the pressure value P of the depth gauge is DG Not less than 1.1, and the number N of satellites received by the satellite receiver<4, judging that the gravity meter is underwater; if the pressure value P of the depth gauge DG <1.1, or the satellite number N received by a satellite receiver is more than or equal to 4, and judging that the gravity meter is on the water surface.
When the gravity meter is detected to be on the water surface, the gravity meter is taken as a main navigation system, and the GNSS is taken as an observed quantity to construct a strapdown dynamic gravity measurement system on the water surface; when the gravity meter is detected to be under water, because the range of the Doppler velocimeter is generally 0.1-175m, when the gravity meter just runs down water, the Doppler velocimeter is limited by the working range, the Doppler velocimeter can not beat to the bottom and output invalid bottom speed, the Doppler velocimeter is used for judging the bottom height output Alt, if Alt=0, the gravity meter is used as a main navigation system, the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter are used as observational quantities, and an underwater strapdown dynamic gravity measurement system is constructed; if Alt is not equal to 0, the gravity meter is taken as a main navigation system, and the speed of the Doppler velocimeter, the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter are taken as observational quantities to construct an underwater strapdown dynamic gravity measurement system.
The strapdown dynamic gravity measurement system of the water surface or the water can be constructed in real time for the current state of the gravity meter in the navigation process, so that the gravity measurement of the water surface and the water can be realized.
Step 106, carrying out gravity measurement by using a strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information; and calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value.
After the measurement is finished, the gravity meter returns to the wharf to collect static data of the astronomical accelerometer, a section of final astronomical specific force is obtained after low-pass filtering, the model of the astronomical accelerometer drift is built by combining a section of initial astronomical specific force before voyage, the model describes the change condition of the astronomical accelerometer from the rest before voyage to the rest after voyage and the meter drift amount with time, and the gravity abnormal result can be calibrated to obtain a more accurate gravity measurement result.
And step 110, calibrating the effective gravity anomaly result by using a section of initial natural specific force, a natural accelerometer drift model and a gravity value of an onshore datum point of the gravity meter to obtain a final gravity measurement result.
The gravity measurement is relative measurement, the reference point on the shore is provided, so that the reference value can be provided, and the measurement result is more real; second, accelerometer data in the gravity meter drift over time, and the measurement results are more accurate after the drift model is compensated.
In the strapdown dynamic gravity measurement method for the water surface and underwater mixed operation, firstly, the gravity value of an onshore datum point of a gravity meter is obtained; static data acquisition and noise filtering are carried out on the weather accelerometer before navigation according to the gravity meter, so that an initial section of weather specific force is obtained; judging the current state of the gravity meter through an autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result; carrying out gravity measurement by using a strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information; calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value; filtering the original gravity abnormal value according to the low-pass filter to obtain an effective gravity abnormal result; collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an accelerometer drift model of the current voyage according to an initial specific force and a final specific force; and calibrating the effective gravity anomaly result by using an initial section of the gravity value of the initial tangential specific force, the tangential accelerometer drift model and the onshore datum point of the gravity meter to obtain a final gravity measurement result. According to the gravity measurement method, the current state of the gravity meter in the navigation process is used for real-time construction of the strapdown dynamic gravity measurement system on the water surface or underwater for gravity measurement, the initial specific gravity before the navigation and the final specific gravity after the navigation are used for constructing the drift model of the directional accelerometer, and the initial specific gravity, the drift model of the directional accelerometer and the gravity value of the on-shore datum point of the gravity meter are used for calibrating the effective gravity abnormal result, so that the dynamic gravity measurement on the water surface and underwater can be realized, the operation is simple, the implementation is easy, the universality is strong, and the accuracy of gravity measurement is improved.
In one embodiment, the current state of the gravity meter is judged by the autonomous detection system in the sea navigation process, and a strapdown gravity measurement system on the water surface or under water is constructed according to the judgment result, and the strapdown gravity measurement system comprises:
presetting a threshold value of the depth gauge to be 1.1 in the sea navigation process, and if the pressure value P of the depth gauge is DG Not less than 1.1, and the number N of satellites received by the satellite receiver<4, judging that the gravity meter is underwater;
if the pressure value P of the depth gauge DG <1.1, or the satellite number N received by a satellite receiver is more than or equal to 4, and judging that the gravity meter is on the water surface.
In one embodiment, when the gravity meter is detected to be on the water surface, the gravity meter is taken as a main navigation system, and the GNSS is taken as an observed quantity to construct a strapdown dynamic gravity measurement system on the water surface;
when the gravity meter is detected to be under water, judging the bottom height output Alt of the Doppler velocimeter, and if Alt=0, taking the gravity meter as a main navigation system, and constructing an underwater strapdown dynamic gravity measurement system by taking the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter as observational quantities; if Alt is not equal to 0, the gravity meter is taken as a main navigation system, and the speed of the Doppler velocimeter, the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter are taken as observational quantities to construct an underwater strapdown dynamic gravity measurement system.
In the specific embodiment, the gravity meter is influenced by the characteristics of the device, the navigation resolving speed, position and gesture information of the gravity meter can diverge along with time, the speed, position and gesture information of the gravity meter, the Doppler velocimeter and the ultra-short baseline underwater positioning system are utilized to correct, a more accurate navigation result is obtained, the determination of the weather specific force is needed to obtain a high-precision gesture, and the gesture information can only be provided by the gravity meter.
In one embodiment, the calculation is performed according to the high-precision speed, position and gesture information to obtain the original gravity anomaly value, including:
when the gravity meter is on the water surface, calculating according to the high-precision speed, position and attitude information to obtain an original gravity abnormal value of
Wherein f U Is the natural specific force; v (V) E 、V N The east speed and the north speed are respectively; r is R N 、R M The radii of the mortise circle and the meridian circle are respectively; l is the geographic latitude; h is height/depth; gamma is a normal gravity value related to latitude; omega is the earth rotation angular velocity.
In one embodiment, when the gravity meter is under water, the original gravity anomaly value is obtained by calculating according to the high-precision speed, position and attitude information
Wherein, gamma w Correcting for the gravity gradient under water.
In one embodiment, constructing an accelerometer drift model for a current voyage based on an initial and final specific force comprises:
constructing an heavyweight accelerometer drift model of the current voyage according to an initial heavyweight specific force and a final heavyweight specific force as
Δ＝a 0 +a 1 (t-t 0 )+a 2 (t-t 0 ) 2
Wherein delta is the amount of gravity gauge day-to-accelerometer drift; a, a 0 、a 1 And a 2 Parameters of a gravity meter heaving accelerometer long-term drift model; t is the time point of the measuring line, f s0 、f s1 、f s2 …f sn All represent any one of a section of initial specific force, t s0 、t s1 、t s2 …t sn Represents f s0 、f s1 、f s2 …f sn Corresponding test time, t 0 Indicating the start time, f 0 Indicating the start time t 0 Is a natural force, f e0 、f e1 、f e2 …f en Represents any one of a plurality of final specific forces, t e0 、t e1 、t e2 …t en Represents f e0 、f e1 、f e2 …f en Corresponding test time.
In a specific embodiment, an equation is solved by utilizing a section of initial specific gravity and a section of final specific gravity to construct model parameters, and the equation is solved by a least square method to obtain the parameter a of the gravity meter specific gravity accelerometer long-term drift model 0 、a 1 And a 2 By parameter a 0 、a 1 And a 2 And constructing an heavyweight accelerometer drift model.
In one embodiment, the calibration of the effective gravity anomaly results using a segment of initial gravity, an accelerometer drift model and a gravity value of an onshore reference point of the gravity meter, to obtain final gravity measurements, comprises:
calibrating the effective gravity anomaly result by using an initial section of the natural specific force and the natural accelerometer drift model to obtain a final gravity measurement result
Wherein, the liquid crystal display device comprises a liquid crystal display device,
mean value of initial aspect ratio to obtain static aspect ratio measurement value g b Representing the gravity value of the onshore datum of the gravimeter.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in FIG. 2, there is provided a strapdown dynamic gravity measurement of a surface and subsea hybrid operation, comprising: an initial section of the initial sky-to-specific force detection module 202, the gravity meter state detection module 204, the gravity measurement module 206, the sky-to-accelerometer drift model construction module 208 and the gravity anomaly result calibration module 210, wherein:
an initial section of the initial direction-to-day specific force detection module 202, configured to obtain a gravity value of an onshore reference point of the gravity meter; static data acquisition and noise filtering are carried out on the weather accelerometer before navigation according to the gravity meter, so that an initial section of weather specific force is obtained;
the gravity meter state detection module 204 is used for judging the current state of the gravity meter through the autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result;
the gravity measurement module 206 is configured to perform gravity measurement by using a strapdown dynamic gravity measurement system, so as to obtain high-precision speed, position and gesture information; calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value;
the heavyweight accelerometer drift model construction module 208 is configured to filter the original gravity anomaly value according to a low-pass filter, so as to obtain an effective gravity anomaly result; collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an accelerometer drift model of the current voyage according to an initial specific force and a final specific force;
the gravity anomaly result calibration module 210 is configured to calibrate the effective gravity anomaly result by using an initial section of the gravity value of the initial gravity, the gravity value of the on-shore reference point of the gravity meter and the initial gravity ratio, and obtain a final gravity measurement result.
In one embodiment, the gravity meter state detection module 204 is further configured to determine, by using the autonomous detection system, a current state of the gravity meter during navigation, and construct a strapdown gravity measurement system on the water surface or under the water according to the determination result, where the strapdown gravity measurement system includes:
presetting a threshold value of the depth gauge to be 1.1 in the sea navigation process, and if the pressure value P of the depth gauge is DG Not less than 1.1, and the number N of satellites received by the satellite receiver<4, judging that the gravity meter is underwater;
if the pressure value P of the depth gauge DG <1.1, or the satellite number N received by a satellite receiver is more than or equal to 4, and judging that the gravity meter is on the water surface.
In one embodiment, when the gravity meter is detected to be on the water surface, the gravity meter is taken as a main navigation system, and the GNSS is taken as an observed quantity to construct a strapdown dynamic gravity measurement system on the water surface;
when the gravity meter is detected to be under water, judging the bottom height output Alt of the Doppler velocimeter, and if Alt=0, taking the gravity meter as a main navigation system, and constructing an underwater strapdown dynamic gravity measurement system by taking the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter as observational quantities; if Alt is not equal to 0, the gravity meter is taken as a main navigation system, and the speed of the Doppler velocimeter, the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter are taken as observational quantities to construct an underwater strapdown dynamic gravity measurement system.
In one embodiment, the gravity measurement module 206 is further configured to calculate from the high-precision velocity, position and attitude information, to obtain an original gravity anomaly value, including:
when the gravity meter is on the water surface, calculating according to the high-precision speed, position and attitude information to obtain an original gravity abnormal value of
Wherein f U Is the natural specific force; v (V) E 、V N The east speed and the north speed are respectively; r is R N 、R M The radii of the mortise circle and the meridian circle are respectively; l is the geographic latitude; h is height/depth; gamma is a normal gravity value related to latitude; omega is the earth rotation angular velocity.
In one embodiment, when the gravity meter is under water, the original gravity anomaly value is obtained by calculating according to the high-precision speed, position and attitude information
Wherein, gamma w Correcting for the gravity gradient under water.
In one embodiment, the heavenly accelerometer drift model construction module 208 is further configured to construct the heavenly accelerometer drift model for the current voyage from an initial heavenly specific force and a final heavenly specific force, including:
constructing an accelerometer drift model of the current voyage according to a section of initial specific force and a section of final specific force as follows
Δ＝a 0 +a 1 (t-t 0 )+a 2 (t-t 0 ) 2
Wherein delta is the amount of gravity gauge day-to-accelerometer drift; a, a 0 、a 1 And a 2 Parameters of a gravity meter heaving accelerometer long-term drift model; t is the time point of the measuring line, f s0 、f s1 、f s2 …f sn All represent any one of a section of initial specific force, t s0 、t s1 、t s2 …t sn Represents f s0 、f s1 、f s2 …f sn Corresponding test time, t 0 Indicating the start time, f 0 Indicating the start time t 0 Is a natural force, f e0 、f e1 、f e2 …f en Represents any one of a plurality of final specific forces, t e0 、t e1 、t e2 …t en Represents f e0 、f e1 、f e2 …f en Corresponding test time.
In one embodiment, the gravity anomaly result calibration module 210 is further configured to calibrate the effective gravity anomaly result using an initial gravity, an accelerometer drift model, and a gravity value of an onshore reference point of the gravity meter, to obtain a final gravity measurement, including:
calibrating the effective gravity anomaly result by using an initial section of the natural specific force and the natural accelerometer drift model to obtain a final gravity measurement result
Wherein, the liquid crystal display device comprises a liquid crystal display device,
mean value of initial aspect ratio to obtain static aspect ratio measurement value g b Representing the gravity value of the onshore datum of the gravimeter.
The specific definition of a strapdown dynamic gravity measurement device for water surface and underwater hybrid operation can be found in the definition of a strapdown dynamic gravity measurement method for water surface and underwater hybrid operation hereinabove, and will not be described herein. The modules in the strapdown dynamic gravity measurement device for the water surface and underwater mixed operation can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (8)
1. A strapdown dynamic gravity measurement method for water surface and underwater hybrid operation, the method comprising:
acquiring a gravity value of an onshore datum point of the gravity meter;
static data acquisition and noise filtering are carried out on the pre-navigation sky-oriented accelerometer according to the gravity meter, so that an initial section of sky-oriented specific force is obtained;
judging the current state of the gravity meter through an autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result;
carrying out gravity measurement by utilizing the strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information;
calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value;
filtering the original gravity anomaly value according to a low-pass filter to obtain an effective gravity anomaly result;
collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an heavyweight accelerometer drift model of the current voyage according to the initial heavyweight specific force and the final heavyweight specific force;
and calibrating the effective gravity anomaly result by using the initial section of the natural specific force, the natural accelerometer drift model and the gravity value of the onshore datum point of the gravity meter to obtain a final gravity measurement result.
2. The method according to claim 1, wherein the current state of the gravity meter is judged by the autonomous detection system during the sea navigation, and a strapdown gravity measurement system on the water surface or under the water is constructed according to the judgment result, comprising:
presetting a threshold value of the depth gauge to be 1.1 in the sea navigation process, and if the pressure value P of the depth gauge is Depth gauge Not less than 1.1, and the number N of satellites received by the satellite receiver<4, judging that the gravity meter is underwater;
if the pressure value P of the depth gauge Depth gauge <1.1, or the satellite number N received by a satellite receiver is more than or equal to 4, and judging that the gravity meter is on the water surface.
3. The method according to claim 2, wherein the method further comprises:
when the gravity meter is detected to be on the water surface, the gravity meter is taken as a main navigation system, and the GNSS is taken as an observed quantity to construct a strapdown dynamic gravity measurement system on the water surface;
when the gravity meter is detected to be under water, judging the bottom height output Alt of the Doppler velocimeter, and if Alt=0, taking the gravity meter as a main navigation system, and constructing an underwater strapdown dynamic gravity measurement system by taking the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter as observational quantities; if Alt is not equal to 0, the gravity meter is taken as a main navigation system, and the speed of the Doppler velocimeter, the horizontal position of the ultra-short baseline underwater positioning system and the depth of the depth meter are taken as observational quantities to construct an underwater strapdown dynamic gravity measurement system.
4. A method according to claim 3, wherein the calculating according to the high-precision speed, position and posture information to obtain the original gravity anomaly value comprises:
when the gravity meter is on the water surface, calculating according to the high-precision speed, position and posture information to obtain an original gravity abnormal value of
Wherein f U Is the natural specific force; v (V) E 、V N The east speed and the north speed are respectively; r is R N 、R M The radii of the mortise circle and the meridian circle are respectively; l is the geographic latitude; h is height/depth; gamma is a normal gravity value related to latitude; omega is the earth rotation angular velocity.
5. The method according to claim 4, wherein the method further comprises:
when the gravity meter is under water, calculating according to the high-precision speed, position and attitude information to obtain an original gravity abnormal value of
Wherein, gamma w Correcting for the gravity gradient under water.
6. The method of claim 5, wherein constructing an accelerometer drift model for a current voyage based on the initial set of specific sky forces and the final set of specific sky forces comprises:
constructing an heavyweight accelerometer drift model of the current voyage according to the initial heavyweight specific force and the final heavyweight specific force as follows
Δ＝a 0 +a 1 (t-t 0 )+a 2 (t-t 0 ) 2
Wherein delta is the amount of gravity gauge day-to-accelerometer drift; a, a 0 、a 1 And a 2 Parameters of a gravity meter heaving accelerometer long-term drift model; t is the time point of the measuring line, f s0 、f s1 、f s2 …f sn All represent any one of a section of initial specific force, t s0 、t s1 、t s2 …t sn Represents f s0 、f s1 、f s2 …f sn Corresponding test time, t 0 Indicating the start time, f 0 Indicating the start time t 0 Is a natural force, f e0 、f e1 、f e2 …f en Represents any one of a plurality of final specific forces, t e0 、t e1 、t e2 …t en Represents f e0 、f e1 、f e2 …f en Corresponding test time.
7. The method of claim 6, wherein calibrating the effective gravity anomaly using the initial set of gravity values for the natural aspect ratio, the natural accelerometer drift model, and the onshore reference point of the gravity meter, comprises:
calibrating the effective gravity anomaly result by using the initial section of the natural specific force and the natural accelerometer drift model to obtain a final gravity measurement result
Wherein (1)>
Mean value of initial aspect ratio to obtain static aspect ratio measurement value g b Representing the gravity value of the onshore datum of the gravimeter.
8. A strapdown dynamic gravity measurement device for surface and underwater hybrid operations, the device comprising:
the initial section of the initial direction-of-day specific force detection module is used for acquiring a gravity value of an onshore datum point of the gravity meter; static data acquisition and noise filtering are carried out on the pre-navigation sky-oriented accelerometer according to the gravity meter, so that an initial section of sky-oriented specific force is obtained;
the gravity meter state detection module is used for judging the current state of the gravity meter through the autonomous detection system in the navigation process, and constructing a strapdown dynamic gravity measurement system on the water surface or under the water according to the judgment result;
the gravity measurement module is used for carrying out gravity measurement by utilizing the strapdown dynamic gravity measurement system to obtain high-precision speed, position and gesture information; calculating according to the high-precision speed, position and gesture information to obtain an original gravity abnormal value;
the heavyweight accelerometer drift model construction module is used for filtering the original gravity abnormal value according to a low-pass filter to obtain an effective gravity abnormal result; collecting static data of the marine natural accelerometer by using a gravity meter, and filtering to obtain a section of final natural specific force; constructing an heavyweight accelerometer drift model of the current voyage according to the initial heavyweight specific force and the final heavyweight specific force;
and the gravity anomaly result calibration module is used for calibrating the effective gravity anomaly result by utilizing the initial section of the initial gravity, the initial gravity drift model of the gravity accelerometer and the gravity value of the onshore datum point of the gravity meter to obtain a final gravity measurement result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210801406.4A CN116009103A (en) | 2022-07-08 | 2022-07-08 | Strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210801406.4A CN116009103A (en) | 2022-07-08 | 2022-07-08 | Strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116009103A true CN116009103A (en) | 2023-04-25 |
Family
ID=86025441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210801406.4A Pending CN116009103A (en) | 2022-07-08 | 2022-07-08 | Strapdown dynamic gravity measurement method and device for water surface and underwater mixed operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116009103A (en) |
-
2022
- 2022-07-08 CN CN202210801406.4A patent/CN116009103A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109324330B (en) | USBL/SINS tight combination navigation positioning method based on mixed derivative-free extended Kalman filtering | |
| CN109443379A (en) | A kind of underwater anti-shake dynamic alignment methods of the SINS/DVL of deep-sea submariner device | |
| CN101354253B (en) | Geomagnetic auxiliary navigation algorithm based on matching degree | |
| CN103017755B (en) | A kind of underwater navigation attitude measurement method | |
| CN101706284B (en) | Method for increasing position precision of optical fiber gyro strap-down inertial navigation system used by ship | |
| US20110077891A1 (en) | Accelerometer-only calibration method | |
| US20040064252A1 (en) | Method and system for processing pulse signals within an inertial navigation system | |
| CN111947652A (en) | Inertia/vision/astronomy/laser ranging combined navigation method suitable for lunar lander | |
| CN102252677A (en) | Time series analysis-based variable proportion self-adaptive federal filtering method | |
| CN106405670A (en) | Gravity anomaly data processing method applicable to strapdown marine gravimeter | |
| CN103900565A (en) | Method for obtaining inertial navigation system attitude based on DGPS (differential global positioning system) | |
| CN108896040B (en) | Inertia/gravity combined navigation method and system for sky-sea integrated underwater vehicle | |
| CN101881619A (en) | Ship's inertial navigation and astronomical positioning method based on attitude measurement | |
| CN109085655B (en) | Underwater platform gravity measurement scheme and verification method | |
| CN110567454A (en) | SINS/DVL tightly-combined navigation method in complex environment | |
| CN107367744A (en) | LEO-based GPS orbit determination method based on adaptive measuring Noise Variance Estimation | |
| CN103278165A (en) | Remanence-calibration-based autonomous navigation method of magnetic survey and starlight backup based on | |
| CN106767928A (en) | A kind of self adaptation fast transfer alignment method | |
| CN105988129A (en) | Scalar-estimation-algorithm-based INS/GNSS combined navigation method | |
| CN111722295A (en) | Underwater strapdown gravity measurement data processing method | |
| CN101545778B (en) | Initial alignment method of electric control compass based on nonlinear filtering | |
| CN104501809A (en) | Attitude coupling-based strapdown inertial navigation/star sensor integrated navigation method | |
| CN113900069A (en) | Vertical deviation calculation method and system based on interference imaging altimeter | |
| CN111504278A (en) | Sea wave detection method based on self-adaptive frequency domain integration | |
| CN111812737A (en) | Integrated system for underwater navigation and gravity measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |