水下动态重力数据实时采集仿真技术研究  

Research on real-time acquisition and simulation technology of underwater dynamic gravity data

作　　者：王傲明 李姗姗[1] 范雕 李新星[1] 张驰[1] 黄炎 WANG Aoming;LI Shanshan;FAN Diao;LI Xinxing;ZHANG Chi;HUANG Yan(Institute of Geospatial Information,Strategic Support Force Information Engineering University,Zhengzhou 450001,China)

机构地区：[1]战略支援部队信息工程大学地理空间信息学院,河南郑州450001

出　　处：《海洋测绘》2022年第1期18-24,共7页Hydrographic Surveying and Charting

基　　金：国家自然科学基金(42174007);地理信息工程国家重点实验室开放基金(SKLGIE2019-M-1-3)。

摘　　要：针对难以通过水下采集真实重力数据对重力辅助惯性导航关键技术、算法模型进行实验验证与优化,基于捷联惯导反演算法和重力动态测量原理,研究构建了捷联式与平台式水下航迹重力数据实时采集仿真系统,并采用两两采样点间的重力异常之差作为新的匹配量以提高匹配量精度。依据现有器件水平,设置陀螺仪随机常值漂移为0.002°/h,加速度计随机常值偏值为10 ug,设置采样间隔为180 s、240 s和300 s进行仿真实验。实验结果表明,在相同器件水平下,重力异常之差匹配量的精度明显优于绝对重力异常匹配量,满足高精度匹配导航匹配量中误差小于2 mGal的要求。研究成果可为在实验室环境下进行水下重力匹配导航的理论研究和模型验证工作,提供与实际航迹采集相符且具有一定物理意义的数据支撑。Aiming at the difficulty in acquiring real gravity data underwater,the key technologies and algorithm models of gravity-assisted inertial navigation are experimentally verified and optimized.Based on the strapdown inertial navigation algorithm and the principle of dynamic gravity measurement,the real-time collection of gravity data of underwater tracks is studied and constructed.The simulation system uses the difference between the gravity anomalies between the two sampling points as the new matching quantity to improve the accuracy of the matching quantity.According to the current device level,set the random constant drift of the gyroscope to 0.002°/h,the random constant deviation of the accelerometer to 10 ug,and the sampling interval to 180 s,240 s and 300 s for simulation experiments.The experimental results show that under the same device level,the accuracy of the matching amount of gravity anomaly difference is significantly better than that of absolute gravity anomaly matching amount,which meets the requirement that the mean square error of the matching amount of high-precision matching navigation is less than 2 mGal.The research results can provide data support that is consistent with the actual track collection and has certain physical significance for the theoretical research and model verification of underwater gravity matching navigation in a laboratory environment.

关 键 词：重力匹配导航 动态重力测量 捷联惯导反演算法 相对重力异常 水下航迹发生器 重力数据采集发生器 

分 类 号：P223[天文地球—大地测量学与测量工程]