基于SINS/OD/高度计的车载重力异常测量方法

李新宇; 张志利; 周召发; 常振军; 赵芝谦

doi:10.13700/j.bh.1001-5965.2022.0766

基于SINS/OD/高度计的车载重力异常测量方法

doi: 10.13700/j.bh.1001-5965.2022.0766

李新宇^{1, 2},
张志利^{1, 2},
周召发^{1, 2, ,},
常振军^{1, 2},
赵芝谦^{1, 2}

1.
火箭军工程大学导弹工程学院，西安 710025
2.
火箭军工程大学兵器发射理论和技术国家重点学科实验室，西安 710025

基金项目: 航空科学基金(201808U8004)

详细信息

通讯作者:
E-mail：zzftxy@163.com

中图分类号: P223⁺.7
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出版历程
- 收稿日期: 2022-09-07
- 录用日期: 2023-01-18
- 网络出版日期: 2023-02-27
- 整期出版日期: 2024-10-31

Vehicle gravity anomaly measurement methods based on SINS/OD/altimeter

LI Xinyu^{1, 2},
ZHANG Zhili^{1, 2},
ZHOU Zhaofa^{1, 2
, ,},
CHANG Zhenjun^{1, 2},
ZHAO Zhiqian^{1, 2}

1.
School of Missile Engineering，Rocket Force University of Engineering，Xi’an 710025，China
2.
State Key Discipline Laboratory of Armament Launch Theory and Technology，Rocket Force University of Engineering，Xi’an 710025，China

Funds: Aeronautical Science Foundation of China (201808U8004)

More Information

Corresponding author: E-mail：zzftxy@163.com

摘要

摘要:
车载重力测量沿地球表面实施，其较慢的速度和机动灵活的特点为高精度地面重力测量提供有利条件。传统动基座重力测量严重依赖全球定位系统(GPS)而无法实现完全自主性，基于捷联惯导(SINS)/里程计(OD)/高度计组合导航提出一种新的自主无源车载重力异常测量方法。组合导航系统提供了高精度的比力、姿态和载体加速度信息，气压高度计用于抑制高度通道的发散，通过直接差分法即可实现重力信息的获取；对比了以航位推算位置(SINS/DR) 、里程计速度(SINS/OD) 、位置速度(SINS/DR/OD)为量测和传统SINS/GPS 这4种方法的测量精度，分析量测选择对所提方法测量效果的影响。重复测线仿真及单测线跑车试验结果表明：所提方法可以实现完全自主的车载重力异常测量，相比传统SINS/GPS方法具有普遍的精度优势， SINS/OD与SINS/ DR/OD测量精度相差不大，且优于SINS/DR测量方法。
- 车载重力测量 /
- 重力异常 /
- 直接差分法 /
- 里程计 /
- 气压高度计
Abstract:
Vehicle gravimetry is carried out along the surface of the earth. Its slow speed and flexible maneuverability can provide favorable conditions for high-precision ground gravimetry. Due to its heavy dependence on the global positioning system (GPS), traditional gravimetry on a moving pedestal cannot achieve complete autonomy. A new autonomous passive method based on strapdown inertial navigation system (SINS)/odometer (OD)/altimeter integrated navigation was proposed to measure vehicle gravity anomaly. The integrated navigation system provided high-precision specific force, attitude, and carrier acceleration. The barometric altimeter was used to suppress the divergence of the altitude channel, and the gravity information could be obtained by the direct difference method. Then, the measurement accuracy of the four methods, namely, position (SINS/DR), velocity (SINS/OD), position velocity (SINS/DR/OD), and traditional SINS/GPS, was compared, and the influence of measurement selection on the measurement effect of the method proposed was analyzed. The results of repeated measurement line simulation and single measurement line vehicle experiment show that the method proposed can achieve fully autonomous vehicle gravity anomaly measurement, and it has general accuracy advantages over the traditional SINS/GPS method. In addition, the SINS/OD and SINS/DR/OD measurement accuracy is not much different and is better than the SINS/DR measurement method.
- vehicle gravimetry /
- gravity anomaly /
- direct difference method /
- odometer /
- barometric altimeter

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图 1 重力测量流程

Figure 1. Flow of gravimetry

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图 2 车载重力测量重复测线仿真轨迹

Figure 2. Simulation track of repeated measurement lines for vehicle gravimetry

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图 3 动基座重力测量试验用车

Figure 3. Vehicle for gravimetry test on moving pedestal

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图 4 车载重力测量试验路线

Figure 4. Roadmap of vehicle gravimetry test

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图 5 4种方法重力异常测量结果

Figure 5. Gravity anomaly measurement results of four methods

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图 6 4种方法重力异常仿真结果对比

Figure 6. Simulation results comparison of gravity anomalies of four methods

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图 7 组合导航定位结果

Figure 7. Positioning result of integrated navigation

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图 8 组合导航定位误差

Figure 8. Positioning errors of integrated navigation

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图 9 高度通道定位结果

Figure 9. Height channel positioning results

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图 10 4种方法重力异常实验结果对比

Figure 10. Experiment results comparison of gravity anomalies of four methods

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图 11 测速精度对比

Figure 11. Comparison of velocity measurement accuracy

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图 12 加速度精度对比

Figure 12. Comparison of accelerometer accuracy

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图 13 器件性能参数与测量精度对应关系

Figure 13. Correspondence between device performance parameters and measurement accuracy

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图 14 起伏较大时段速度精度对比

Figure 14. Comparison of velocity accuracy in period with great fluctuations

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表 1 重复测线仿真参数

Table 1. Repeated measurement line simulation parameters

参数	数值
载体速度/(m·s⁻¹)	15
单测线距离/km	28
测线间距/m	20
测量方向	南北
加速度计常值零偏/10⁻⁵ (m·s⁻²)	50
加速度计随机游走/10⁻⁵ (m·s⁻²)	5
陀螺仪常值零偏/((°)·h⁻¹)	0.01
陀螺仪随机游走/((°)·h⁻¹)	0.001
位置精度/m	0.1
速度精度/(m·s⁻¹)	0.05
臂杆误差/m	[0;0;−1]
时间不同步/s	0.01
安装误差	[30′;10′;20′]
标度因数	1
测高精度/m	1
滤波周期/s	100
通带截止频率/Hz	0.01
阻带截止频率/Hz	0.05

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表 2 SINS/GPS仿真精度统计

Table 2. Accuracy statistics of SINS/GPS simulation

精度	测线	均值/ 10⁻⁵ (m·s⁻²)	标准差/ 10⁻⁵ (m·s⁻²)	符合精度/ 10⁻⁵ (m·s⁻²)	总符合精度/ 10⁻⁵ (m·s⁻²)
内符合精度	Line 1	−3.20	8.19	8.79	6.61
	Line 2	1.17	8.09	8.16
	Line 3	0.46	5.41	5.42
	Line 4	0.71	5.19	5.24
	Line 5	0.42	5.16	5.17
	Line 6	0.45	5.89	5.90
外符合精度	Line 1	−3.05	10.24	10.67	7.47
	Line 2	1.40	9.28	9.37
	Line 3	0.79	5.62	5.67
	Line 4	1.19	5.67	5.79
	Line 5	0.95	6.57	6.63
	Line 6	1.19	6.57	6.67

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表 3 SINS/DR仿真精度统计

Table 3. Accuracy statistics of SINS/DR simulation

精度	测线	均值/ 10⁻⁵ (m·s⁻²)	标准差/ 10⁻⁵ (m·s⁻²)	符合精度/ 10⁻⁵ (m·s⁻²)	总符合精度/ 10⁻⁵ (m·s⁻²)
内符合精度	Line 1	0.53	2.29	2.36	1.09
	Line 2	−0.35	0.54	0.64
	Line 3	−0.14	0.58	0.59
	Line 4	−0.10	0.47	0.48
	Line 5	−0.04	0.59	0.59
	Line 6	0.10	0.55	0.56
外符合精度	Line 1	1.64	2.51	2.99	2.27
	Line 2	0.83	1.70	1.89
	Line 3	1.16	1.61	1.98
	Line 4	1.34	1.61	2.10
	Line 5	1.44	1.74	2.26
	Line 6	1.79	1.61	2.41

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表 4 SINS/OD仿真精度统计

Table 4. Accuracy statistics of SINS/OD simulation

精度	测线/ 10⁻⁵ (m·s⁻²)	均值/ 10⁻⁵ (m·s⁻²)	标准差/ 10⁻⁵ (m·s⁻²)	符合精度/ 10⁻⁵ (m·s⁻²)	总符合精度/ 10⁻⁵ (m·s⁻²)
内符合精度	Line 1	0.13	1.44	1.44	0.70
	Line 2	−0.22	0.39	0.45
	Line 3	−0.08	0.44	0.45
	Line 4	−0.03	0.35	0.35
	Line 5	0.03	0.40	0.41
	Line 6	0.17	0.38	0.42
外符合精度	Line 1	1.17	2.01	2.32	2.16
	Line 2	0.90	1.71	1.93
	Line 3	1.15	1.63	1.99
	Line 4	1.34	1.61	2.09
	Line 5	1.45	1.74	2.26
	Line 6	1.79	1.58	2.39

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表 5 SINS/DR/OD仿真精度统计

Table 5. Accuracy statistics of SINS/DR/OD simulation

精度	测线/ 10⁻⁵ (m·s⁻²)	均值/ 10⁻⁵ (m·s⁻²)	标准差/ 10⁻⁵ (m·s⁻²)	符合精度/ 10⁻⁵ (m·s⁻²)	总符合精度/ 10⁻⁵ (m·s⁻²)
内符合精度	Line 1	0.13	1.43	1.44	0.69
	Line 2	−0.22	0.39	0.45
	Line 3	−0.08	0.44	0.44
	Line 4	−0.03	0.35	0.35
	Line 5	0.03	0.40	0.40
	Line 6	0.17	0.38	0.41
外符合精度	Line 1	1.17	2.01	2.32	2.15
	Line 2	0.90	1.71	1.93
	Line 3	1.15	1.62	1.98
	Line 4	1.34	1.61	2.09
	Line 5	1.45	1.74	2.24
	Line 6	1.79	1.58	2.38

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表 6 4种测量方法精度统计

Table 6. Accuracy statistics of four measurement methods

精度	测量方法	均值/ 10⁻⁵ (m·s⁻²)	方差/ 10⁻⁵ (m·s⁻²)	符合精度/ 10⁻⁵ (m·s⁻²)
外符合精度	SINS/GPS	4.12	1.31	2.89
	SINS/DR	2.13	0.11	0.97
	SINS/OD	1.11	0.02	0.53
	SINS/DR/OD	0.73	0.01	0.49

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