水下重力实时测量数据仿真及精度分析

doi:10.11947/j.AGCS.2025.20230488

摘要/Abstract

摘要：

重力辅助惯性导航是实现水下潜器长期、自主、隐蔽、精确导航的重要手段之一。水下重力传感器实时测量数据的获取以及测量数据误差补偿是将重力导航付诸实际工程需重点关注的问题。由于实施水下重力测量试验受诸多条件限制，因而缺乏符合实际物理特性的水下重力实时测量值，导致对其特性及其精度水平的认知偏差，进而影响重力辅助惯性导航的性能。海洋水下重力实时测量数据仿真依据现有海洋重力仪以及惯导元器件的性能特性对水下重力实时观测进行模拟仿真、数据处理以及精度评估，可在实验室环境下再现水下重力数据实时获取的物理过程。试验中分析了不同速度误差、纬度误差、方位角对重力测量在不同纬度处的影响，并仿真了一段24 h的水下动态重力测量过程，结果表明在选定的惯性元器件和重力仪参数条件下，自由空间重力异常测量精度为3.5 mGal，为进一步开展重力辅助惯性导航关键技术及算法模型的有效验证与优化提升提供了有效支撑。

关键词: 水下重力测量, 惯性导航, 固体潮汐改正, 仿真分析

Abstract:

Gravity assisted inertial navigation is one of the important means to achieve long-term, autonomous, covert, and precise navigation of underwater vehicles. The acquisition of real-time measurement data from underwater gravity sensors and the compensation of measurement data errors are key issues that need to be focused on when applying gravity navigation to practical engineering. Due to various limitations in the implementation of underwater gravity measurement experiments, there is a lack of real-time underwater gravity measurement values that conform to actual physical characteristics, resulting in cognitive biases in their characteristics and accuracy levels, which in turn affects the performance of gravity assisted inertial navigation. The simulation of real-time underwater gravity measurement data is based on the performance characteristics of existing ocean gravimeters and inertial navigation components to simulate, process, and evaluate the accuracy of real-time underwater gravity observation. It can reproduce the physical process of real-time acquisition of underwater gravity data in a laboratory environment. In the experiment, the effects of different velocity errors, latitude errors, and azimuth angles on gravity measurement at different latitudes were analyzed, and a 24 h underwater dynamic gravity measurement process was simulated. The results showed that under the selected inertial components and gravimeter parameters, the measurement accuracy of gravity anomalies in free space was 3.5 mGal, This provides effective support for further validation and optimization of key technologies and algorithm models for gravity assisted inertial navigation.

Key words: underwater gravity survey, inertial navigation, solid tide correction, simulation analysis

中图分类号:

P223

万宏发, 李姗姗, 李新星, 范昊鹏, 谭勖立. 水下重力实时测量数据仿真及精度分析[J]. 测绘学报, 2025, 54(1): 40-51.

Hongfa WAN, Shanshan LI, Xinxing LI, Haopeng FAN, Xuli TAN. Simulation and accuracy analysis of real-time underwater gravity measurement data[J]. Acta Geodaetica et Cartographica Sinica, 2025, 54(1): 40-51.

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摘要

仪器类别	惯导误差项（常值零偏）	重力仪误差项（常值零偏）
陀螺仪（x，y，z轴）/（°）/h	0.002	—
水平加速度计（x，y轴）/mGal	10	50
垂向加速度计（z轴）/mGal	10	3

初始姿态/（°）	初始速度/（m/s）	初始坐标	航迹时长（世界时）
俯仰角：0	东向：0	111.000°E	2022年1月1日0时—24时
横滚角：0	天向：0	7.000°N
偏航角：0	北向：0	高程-100 m

仪器类别	惯导误差项（常值零偏）		重力仪误差项（常值零偏）
仪器类别	常值零偏	随机游走	常值零偏	随机游走
陀螺仪（x，y，z轴）	0.002°/h		—	—
水平加速度计（x，y轴）	10 mGal		50 mGal
垂向加速度计（z轴）	10 mGal		3 mGal

误差类型	平均误差/mGal	最大值/mGal	均方误差/mGal	相关系数
矩形窗	21.147 8	15.926 6	4.270 5	0.967 0
三角形窗	21.148 2	13.987 5	3.647 2	0.975 6
汉宁窗	21.148 3	13.451 0	3.512 3	0.977 3
布莱克曼窗	21.148 4	13.436 8	3.510 3	0.977 3