| Citation: | LI X Y，ZHANG Z L，ZHOU Z F，et al. Vehicle gravity anomaly measurement methods based on SINS/OD/altimeter[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（10）：3162-3171 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0766
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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.
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