水平张量重力梯度仪垂向运动误差实时补偿方法  

A real-time compensation method for vertical motion error in horizontal tensor gravity gradiometer

作　　者：李达 赵明[3] 范士锋 李中 李城锁[2] 赵琳 LI Da;ZHAO Ming;FAN Shifeng;LI Zhong;LI Chengsuo;ZHAO Lin(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Tianjin Navigation Instrument Research Institute,Tianjin 300131,China;Armaments Department of the People's Liberation Army Navy,Beijing100071,China;Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation,Tianjin 300131,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001 [2]天津航海仪器研究所,天津300131 [3]中国人民解放军海军装备部,北京100071 [4]中国船舶航海保障技术实验室,天津300131

出　　处：《中国惯性技术学报》2024年第2期125-131,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金青年基金项目(42204146);国家重点研发计划(2021YFB390020);中国地质调查项目(DD20191004)。

摘　　要：为减小垂向运动对水平张量重力梯度测量的影响,提出了一种水平张量重力梯度仪垂向运动误差实时补偿方法。首先,分析了载体垂向运动引起重力梯度动态测量误差的机理,建立了综合安装误差角的回归方程;其次,在递推公式中引入遗忘因子,提高状态估计的跟踪速度;再次,针对量测量易受载体运动干扰的问题,通过Sage-Husa自适应滤波的方法实时适应不同量级的动态干扰,对综合安装误差角进行实时估计;最后,利用得到的综合安装误差角估计结果,实现重力梯度垂向运动测量误差的实时补偿。船载实验数据处理结果表明,与传统补偿方法相比,所提方法可将重力梯度内符合精度由30E@1km提高至15E@1km。In order to reduce the influence of vertical motion on horizontal tensor gravity gradient measurement,a real-time compensation method for vertical motion error of horizontal tensor gravity gradiometer is proposed.Firstly,the mechanism of gravity gradient dynamic measurement error caused by carrier vertical motion is analyzed,and the regression equation of the integrated installation error angle is established.Secondly,the forgetting factor is introduced into the recursive formula to improve the tracking speed of the state estimation.Thirdly,in view of the problem that the volume measurement is easily disturbed by the carrier motion,the integrated installation error angle is estimated by the Sage-Husa adaptive filtering method to adapt the different magnitudes of dynamic interference in real-time.Finally,the vertical motion measurement error of gravity gradient is compensated by the estimated integrated installation error angle in real time.The results of shipboard experimental data processing show that compared with the traditional compensation method,the proposed method can improve the accuracy of gravity gradient internal compliance from 30E@1km to 15E@1km.

关 键 词：重力梯度仪 误差补偿 递推最小二乘 遗忘因子 

分 类 号：U666.1[交通运输工程—船舶及航道工程]