Experimental Study on Underwater Moving Gravity Measurement by Using Strapdown Gravimeter Based on AUV Platform

IF 2 4区地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS

Marine Geodesy Pub Date : 2020-12-10 DOI:10.1080/01490419.2020.1861138

Zhiqiang Zhang, Jiancheng Li, Kai-Jun Zhang, R. Yu

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引用次数: 2

Abstract

Abstract Autonomous underwater vehicle (AUV) can be controlled autonomously and cable-less, which can reduce the cost and has good applicability for underwater gravity measurement. Based on airborne gravity measurement, the basic principle of underwater moving gravity measurement is studied, and the mathematical model of AUV underwater moving gravity measurement is established, which based on the data obtained by the gravimeter with a fibre optic inertial navigation system (INS), short baseline underwater acoustic positioning (SBL), Doppler velocity log (DVL) and depth gauge (DG). Underwater experimental verification system of moving gravity measurement consists of the reformed BQR800 Unmanned Underwater Vehicle and dg-M strapdown gravimeter. Mulan Lake in Wuhan was selected as the experimental site. Experimental scheme and processing flow of underwater moving gravity measurement data was designed. Data obtained by strapdown gravimeter, DG, DVL, SBL and other equipment was analysed, and the data calculation was completed. Moreover, the repetition lines are selected to evaluate the repeatability of gravity measurement. The experiment al verification of gravity measurement for three return trips were carried out from January 7 to 8, 2020. The accuracy of repetition line reached 0.42 mGal, which verified the feasibility of underwater moving gravity measurement.

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基于AUV平台的捷联式重力仪水下运动重力测量实验研究

摘要自主式水下机器人（AUV）可以实现自主控制，无需电缆，降低了成本，在水下重力测量中具有良好的适用性。在航空重力测量的基础上，研究了水下移动重力测量的基本原理，建立了AUV水下移动重量测量的数学模型，多普勒速度测井（DVL）和深度计（DG）。移动重力测量水下实验验证系统由改造后的BQR800型无人潜水器和dg-M型捷联式重力仪组成。实验地点选择武汉木兰湖。设计了水下移动重力测量数据的实验方案和处理流程。对捷联式重力仪、DG、DVL、SBL等设备获得的数据进行了分析，并完成了数据计算。此外，选择重复线来评估重力测量的可重复性。2020年1月7日至8日进行了三次返程重力测量的实验验证。重复线的精度达到0.42mGal，验证了水下移动重力测量的可行性。

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来源期刊

Marine Geodesy 地学-地球化学与地球物理

CiteScore

4.10

自引率

6.20%

发文量

审稿时长

>12 weeks

期刊介绍： The aim of Marine Geodesy is to stimulate progress in ocean surveys, mapping, and remote sensing by promoting problem-oriented research in the marine and coastal environment. The journal will consider articles on the following topics: topography and mapping; satellite altimetry; bathymetry; positioning; precise navigation; boundary demarcation and determination; tsunamis; plate/tectonics; geoid determination; hydrographic and oceanographic observations; acoustics and space instrumentation; ground truth; system calibration and validation; geographic information systems.