捷联航空重力测量中的卡尔曼滤波
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摘要
针对捷联式航空重力仪测量系统,给出了GPS/捷联惯性组合导航扩展卡尔曼滤波方程、二阶马尔可夫过程的重力异常模型以及由重力异常作为状态变量的卡尔曼滤波状态方程。应用平滑综合的正、反卡尔曼滤波法对捷联式航空重力仪实测数据进行了处理,获得自由空间重力异常值,并与同机飞行的GT-2A航空重力仪测量结果进行比对。对比结果表明,两者的自由空间重力异常值之差小于0.85 mGal。
For the strapdown airborne gravimeter measurement system, the extended Kalman filtering equation of the GPS/Strapdown inertial integrated navigation, the gravity anomaly model of second-order Markov process and the Kalman filtering state equation of state which takes the gravity anomaly as variable are given. The measured data of Strapdown airborne gravimeter are processed by using the smoothed forward and backward Kalman filtering method, and the free-air gravity anomaly values are obtained. The results are compared with those of the GT-2 A airborne gravimeter equipped on the same plane. The comparison results show that the difference between the free-air gravity anomaly values is less than 0.85 mGal.
For the strapdown airborne gravimeter measurement system, the extended Kalman filtering equation of the GPS/Strapdown inertial integrated navigation, the gravity anomaly model of second-order Markov process and the Kalman filtering state equation of state which takes the gravity anomaly as variable are given. The measured data of Strapdown airborne gravimeter are processed by using the smoothed forward and backward Kalman filtering method, and the free-air gravity anomaly values are obtained. The results are compared with those of the GT-2 A airborne gravimeter equipped on the same plane. The comparison results show that the difference between the free-air gravity anomaly values is less than 0.85 mGal.
引文
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[5] 郎骏健,梁星辉,柳林涛,等.航空重力傅里叶基追踪低通滤波方法研究[J].地球物理学报,2018,61(12):4737-4745.
[6] 罗骋,薛正兵,李东明,等.捷联式重力仪在海洋测量中的应用与数据处理[J].导航定位与授时,2017,4(4):36-42.
[7] 张向宇,关永贤,徐行,等.GT-2M型海洋重力仪数据处理若干问题的讨论[J].海洋测绘,2017,37(1):30-33.
[2] CAI Shaokun,WU Meiping,ZHANG Kaidong,et al.The first airborne scalar gravimetry system based on SINS/DGPS in China[J].Science China(Earth Sciences),2013,56(12):2198-2208.
[3] 赵明,胡平华,唐江河,等.平台式重力仪晃动基座开环对准方法研究[C]//重庆:重力测量技术——2014年惯性技术发展动态发展方向研讨会文集,2014:30-35.
[4] 蔡体菁,周薇,鞠玲玲.平台式重力仪测量数据的卡尔曼滤波处理[J].中国惯性技术学报,2015,23(6):718-720.
[5] 郎骏健,梁星辉,柳林涛,等.航空重力傅里叶基追踪低通滤波方法研究[J].地球物理学报,2018,61(12):4737-4745.
[6] 罗骋,薛正兵,李东明,等.捷联式重力仪在海洋测量中的应用与数据处理[J].导航定位与授时,2017,4(4):36-42.
[7] 张向宇,关永贤,徐行,等.GT-2M型海洋重力仪数据处理若干问题的讨论[J].海洋测绘,2017,37(1):30-33.