Vertical acceleration correction method for gravimeter carried by AUV

Abstract

The invention discloses a vertical acceleration correction method for a gravimeter carried by an AUV. The method comprises the following steps: eliminating high-frequency vertical disturbance acceleration of the gravimeter carried by the AUV by using low-pass filtering, inhibiting low-frequency vertical disturbance acceleration of the gravimeter carried by the AUV by using mean filtering, and correcting noise that the vertical disturbance acceleration of the gravimeter carried by the AUV coincides with gravity anomaly on a frequency spectrum by using game filtering. The method can solve the problems that additional acceleration is caused and the measurement precision is low due to the fact that the gravimeter swings due to factors such as vibration of itself, sea waves and ocean currents when the gravimeter carried by the AUV is used for ocean gravity measurement; the ocean gravity measurement precision can be improved, and the method has high dynamic response capacity and robustness to external interference.

Description

technical field [0001] The invention relates to the technical field of an acceleration correction method for a gravimeter, in particular to a vertical acceleration correction method for an AUV gravity meter. Background technique [0002] Autonomous underwater vehicles (AUV), such as conventional submarines, nuclear submarines, and underwater autonomous operating robots, have been widely used in marine oil and gas source exploration and national defense. To achieve long-term underwater operations, it must rely on an autonomous underwater navigation and positioning system. After modeling and real-time filtering, the original gravity anomaly signal collected by the relative gravimeter equipped on the AUV needs to be corrected to obtain the real-time gravity anomaly reflecting the position information of the AUV, and then matched with the stored gravity database to obtain the position information of the AUV , to assist the navigation system. [0003] When the AUV is sailing, i...

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Problems solved by technology

[0004] The traditional vertical disturbance acceleration correction method uses digital filtering technology to determine the AUV vertical acceleration for vertical disturbance acceleration correction. This method has large errors and is difficult to guarantee accuracy.

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