WO2020140378A1 - 一种旋转加速度计重力梯度仪运动误差事后补偿方法 - Google Patents
一种旋转加速度计重力梯度仪运动误差事后补偿方法 Download PDFInfo
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- 230000005484 gravity Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 5
- 230000001133 acceleration Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
- G01V7/02—Details
- G01V7/06—Analysis or interpretation of gravimetric records
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/30—Post-processing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
Definitions
- the invention relates to an ex-post compensation method for the motion error of a rotary accelerometer gradiometer, which belongs to the technical field of precision measurement.
- Gravity gradient exploration on moving base is a low-cost, high-efficiency gravity gradient exploration method; it is currently the most advanced gravity field exploration method in the world.
- Gravity gradient data is widely used in geological analysis, gravity field modeling, high-precision navigation, resource exploration, etc.
- Gravity gradiometer has extremely important national defense, civil, scientific research value.
- the gravity gradiometers under research at home and abroad mainly include cold atom gravity gradiometer, superconducting gravity gradiometer, MEMS gravity gradiometer, etc.
- Gravity gradiometers that have been put into commercial application abroad mainly include rotary accelerometer gradiometer and superconducting accelerometer gradiometer. The prototype of the gradiometer in my country is under development.
- the invention provides an ex-post compensation method for the motion error of a high-precision rotary accelerometer gradiometer.
- This method is based on the analytical model of the rotary accelerometer gradiometer. It can quickly calibrate the coefficient of motion error of the gradiometer and remove the linear motion and angle of the gradiometer. Motion-induced errors. Under the condition of ensuring that the resolution of the gradiometer is unchanged, using this method for ex-post compensation can greatly reduce the accuracy requirements of the gradiometer on the online error compensation system, simplify the design of the online error compensation system, and thus simplify the gradiometer Circuit and mechanical design.
- the invention also provides an ex-post compensation method for the motion error of the rotary accelerometer gradiometer with the above effects and solving the above problems.
- the method adopted by the present invention is: a method for post-compensation of the motion error of a rotary accelerometer gradiometer, including the following steps:
- the sampling rate is the same; the output data, linear motion data and angular motion data of the gradiometer with a total exploration time length of L hours are divided into N data blocks according to time, and the time length of each data block can be different;
- Time where t represents a data block, L m (t) represents a data block, the line motion vector at time t, L a (t) represents a data block, angular motion vector at time t, a x (t), a y (t), a z (t) represents the line motion data at time t in the data block, ⁇ x (t), ⁇ y (t), ⁇ z (t), ⁇ ax (t), ⁇ ay (t ), ⁇ az (t) represents the angular motion data at time t in the data block, and ⁇ represents the angular frequency of the rotating disk of the rotating accelerometer gradiometer;
- t represents a time starting block
- L m (t 1) represents a data block starting time t 1 of the line motion vector
- L a (t 1) represents a data block starting time t 1 of the angular motion vector
- L m (t) represents a data block, the time t of the line motion vector
- L a (t) represents a data block, angular motion vector at time t
- t end time p represents a data block
- L m (t p) represents end time block t-line motion vector p
- L a (t p) represents a data block end time t angular motion vector p
- C according to the following formula, calibration data block line motion error coefficient vector C m and angular motion errors Coefficient vector C A , C m is a 1 ⁇ 10 vector, C A is a 1 ⁇ 8 vector:
- G out is the output data block of the rotary accelerometer gradiometer
- L + indicates the plus sign inverse of the L matrix
- L is the motion matrix of the data block calculated in step b;
- the present invention has the following advantages:
- the present invention is the first time to provide a post-accident compensation method for the motion error of a rotary accelerometer gradiometer, which records the linear motion and angular motion of the gradiometer during gravity gradient exploration, and excludes the output data of the gradiometer after the gravity gradient exploration is completed Error of linear motion and angular motion.
- the motion error compensation method is based on the high-precision analytical model of the gradiometer. It can remove the linear and angular motion errors of the gradiometer from the raw data of the gradiometer with ultra-low signal-to-noise ratio and extract the gravitational gradient signal. It greatly reduces the accuracy requirements of the gravity gradient meter on the online error compensation system, simplifies the circuit and mechanical design of the gravity gradient meter, and enables the gravity gradient meter to adapt to a more severe dynamic environment.
- Figure 1 is a schematic diagram of the installation of gravity and linear motion sensors of the gradiometer
- Figure 3 is the original output diagram of the rotary accelerometer gradiometer
- Figure 4 is the output of the gravity gradient meter after the post-event motion error compensation, excluding the linear motion and angular motion errors of the gradiometer
- Fig. 5 is a comparison diagram of the universal gravitational gradient recovered by demodulation and recovery of the output of the gradiometer whose linear motion and angular motion of the gradiometer is removed, and the theoretical gravitational gradient.
- A1, A2, A3 and A4 are the four accelerometers installed on the rotary accelerometer gradiometer and are gravitational gradient sensitive elements; the origin of the measurement coordinate system of the gradiometer is located in the center of the disc, x m is The x axis of the gradiometer's measuring coordinate system, y m is the y axis of the gradiometer's measuring coordinate system, z m is the z axis of the gradiometer's measuring coordinate system; a three axis is installed at the center point of the rotating disk of the gradiometer Accelerometer, used to record the linear motion experienced by the gradiometer during gravity gradient exploration; install gyroscopes on the three coordinate axes of the gradiometer measurement coordinate system respectively, and recorded the angular motion experienced by the gradiometer during gravity gradient exploration ( Angular velocity, angular acceleration).
- the post-compensation method for the motion error of the rotary accelerometer gradiometer includes the following steps:
- Preprocessing the output data, linear motion data, and angular motion data of the rotary accelerometer gradiometer mainly including filtering to reduce data noise and sampling rate conversion, so that the output data, linear motion data, and angular motion of the rotary accelerometer gradiometer
- the sampling rate of the data is the same; the length of time for aviation gravity gradient exploration can be as high as 7 to 8 hours.
- the gravity gradient instrument linear motion error coefficient vector and angular motion error coefficient vector will slowly change with time, but in In a short period of time, it can be regarded as unchanged; in order to improve the accuracy of the error compensation afterwards, the output data, linear motion data, and angular motion data of the gradiometer can be divided into N according to time according to the characteristics of the gradiometer. Data blocks. For example, the total time length of aviation gravity gradient exploration is 8 hours, and the output data, linear motion data, and angular motion data of the gradiometer can be divided into 8 consecutive data blocks, and the length of each data block is 1 hour.
- the linear motion error and angular motion error in the 8 data blocks are sequentially removed.
- the method for removing the linear motion error and angular motion error in each data block is the same.
- the steps for removing the linear motion error and angular motion error are as follows:
- ⁇ represents the angular frequency of the rotating disk of the rotating accelerometer gradiometer
- t represents a time starting block
- L m (t 1) represents a data block starting time t 1 of the line motion vector
- L a (t 1) represents a data block starting time t 1 of the angular motion vector
- L m (t) represents a data block, the time t of the line motion vector
- L a (t) represents a data block, angular motion vector at time t
- t end time p represents a data block
- L m (t p) represents end time block t-line motion vector p
- L a (t p) represents a data block end time t angular motion vector p
- C according to the following formula, calibration data block line motion error coefficient vector C m and angular motion errors Coefficient vector C A , C m is a 1 ⁇ 10 vector, C A is a 1 ⁇ 8 vector:
- G out is the output data block of the rotary accelerometer gradiometer
- L + indicates the plus sign inverse of the L matrix
- L is the motion matrix of the data block calculated in step b;
- the disc radius R of the simulated rotary accelerometer gradiometer is 0.1m
- the disc rotation angle frequency ⁇ is 1.57 rad/s
- the parameters of the accelerometer model of the rotary accelerometer gradiometer is 0.1m
- the installation parameters of the accelerometer is 1.57 rad/s
- the parameters of the accelerometer amplification circuit Listed in the table below:
- the test quality is 480Kg.
- the linear vibration is applied to the gradiometer to simulate the turbulence effect of aviation exploration.
- the linear vibration acceleration follows a Gaussian distribution.
- the average linear vibration acceleration in the vertical direction is 0.1 g, and the standard deviation is 0.02 g.
- the intensity of the horizontal linear vibration is in the vertical direction.
- Figure 3 is the original output of the rotary accelerometer gradiometer. It is the output of the co-excitation of the linear motion, angular motion, and gravitational gradient of the gradiometer.
- Figure 4 is the post-event motion compensation, excluding the linear motion and angular motion of the gradiometer. The output of the error gradiometer is only excited by the gravitational gradient.
- Figure 5 is a comparison diagram of the universal gravitational gradient recovered by demodulating the output of the gradiometer with linear motion and angular motion of the gradiometer, and the theoretical gravitational gradient; ⁇ inline and ⁇ cross in the figure are the theoretical gravitational gradient, est ⁇ inline and est ⁇ Cross is the universal gravitational gradient recovered by demodulating the output of the gradiometer whose linear motion and angular motion are eliminated. It can be seen from the figure that the recovered gravitational gradient is consistent with the theoretical gravitational gradient.
- the turbulence level applied to the gradiometer is 200 mg
- the angular velocity level is 10 -4 ⁇ 10 -3 rad/s
- the angular acceleration level is 10 -3 ⁇ 10 -2 rad/s 2
- gravity gradiometer The magnitude of the voltage output caused by angular motion and linear motion is 10 5 V
- the magnitude of the voltage output caused by the gravitational gradient is 10 -2 V
- the magnitude of the signal-to-noise ratio is 10 -7 .
- the post-event error compensation method provided by the present invention can eliminate the linear and angular motion errors of the gradiometer and accurately recover the gravitational gradient. Simulation experiments show that The post-event motion error compensation method provided by the present invention has excellent performance.
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Abstract
Description
Claims (3)
- 一种旋转加速度计重力梯度仪运动误差事后补偿方法,其特征在于,包括以下步骤:(1)、对旋转加速度计重力梯度仪的输出数据、线运动数据、角运动数据进行滤波,以及采样率转换,降低数据噪声,同时使旋转加速度计重力梯度仪的输出数据、线运动数据、角运动数据的采样率相同;(2)、将勘探时间总长度为L小时的重力梯度仪的输出数据、线运动数据、角运动数据,按时间分割成N个数据块,每个数据块的时间长度可以不同;(3)、依次剔除N个数据块中的线运动误差、角运动误差;(4)、将N个剔除了线运动误差、角运动误差的数据块合并,并解调,得到勘探时间长度L小时的万有引力梯度输出。
- 根据权利要求1所述的一种旋转加速度计重力梯度仪运动误差事后补偿方法,其特征在于:步骤(3)中每个数据块剔除线运动误差、角运动误差的方法相同。
- 根据权利要求2所述的一种旋转加速度计重力梯度仪运动误差事后补偿方法,其特征在于:步骤(3)中每个数据块剔除线运动误差、角运动误差的步骤如下:(3-1)根据下式,计算数据块所有时刻的线运动向量、角运动向量:式中t表示数据块的时间,L m(t)表示数据块中,时刻t的线运动向量,L a(t)表示数据块中,时刻t的角运动向量,a x(t),a y(t),a z(t)表示数据块中,时刻t的线运动数据,ω x(t),ω y(t),ω z(t),ω ax(t),ω ay(t),ω az(t)表示数据块中,时刻t的角运动数据,Ω表示旋转加速度计重力梯度仪旋转圆盘角频率;(3-2)将数据块所有时刻的线运动向量、角运动向量,代入下式计算数据块的运动矩阵L:式中t 1表示数据块的起始时刻,L m(t 1)表示数据块起始时刻t 1的线运动向量,L a(t 1)表示数据块起始时刻t 1的角运动向量;L m(t)表示数据块中,时刻t的线运动向量,L a(t)表示数据块中,时刻t的角运动向量;t p表示数据块的结束时刻,L m(t p)表示数据块的结束时刻t p的线运动向量,L a(t p)表示数据块结束时刻t p的角运动向量;(3-3)根据下式,标定数据块的线运动误差系数向量C m和角运动误差系数向量C A,C m是1×10向量,C A是1×8向量:[C m,C A]=G out·L +式中G out是旋转加速度计重力梯度仪输出数据块,L +表示L矩阵的加号逆;(3-4)将标定的线运动误差系数向量C m和角运动误差系数向量C A代入下式,剔除重力梯度仪线运动、角运动误差:
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CN109709628B (zh) * | 2019-02-15 | 2020-08-14 | 东南大学 | 一种旋转加速度计重力梯度仪标定方法 |
CN110068876B (zh) * | 2019-05-30 | 2021-01-26 | 中国船舶重工集团公司第七0七研究所 | 基于载体自振动航空重力梯度仪运动误差补偿方法 |
CN111522252A (zh) * | 2020-04-02 | 2020-08-11 | 北京仿真中心 | 一种半实物仿真方法及系统 |
CN112363247B (zh) * | 2020-10-27 | 2021-09-07 | 华中科技大学 | 一种重力梯度仪运动误差事后补偿方法 |
CN114324978A (zh) * | 2021-12-17 | 2022-04-12 | 兰州空间技术物理研究所 | 一种加速度计捕获范围的地面静态标定方法 |
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