Simulation and accuracy analysis of real-time underwater gravity measurement data

doi:10.11947/j.AGCS.2025.20230488

Abstract

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

CLC Number:

P223

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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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