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使用空间惯性导航系统/全球导航卫星系统微机电系统单元在静态和移动实验中检测局部重力变化：初步结果。

Using a SPATIAL INS/GNSS MEMS Unit to Detect Local Gravity Variations in Static and Mobile Experiments: First Results.

作者信息

Beirens Benjamin, Darrozes José, Ramillien Guillaume, Seoane Lucia, Médina Patrice, Durand Pierre

机构信息

Université Toulouse 3-Paul Sabatier, 115C Route de Narbonne, 31062 Toulouse, France.

Géosciences Environnement Toulouse (GET), Observatoire Midi-Pyrénées (OMP), 14, Avenue Edouard Belin, 31400 Toulouse, France.

出版信息

Sensors (Basel). 2023 Aug 9;23(16):7060. doi: 10.3390/s23167060.

DOI:10.3390/s23167060
PMID:37631597
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10460093/
Abstract

In this study, we present the feasibility of using gravity measurements made with a small inertial navigation system (INS) during in situ experiments, and also mounted on an unmanned aerial vehicle (UAV), to recover local gravity field variations. The INS operated is the SPATIAL one developed by Advanced Navigation, which has three-axis accelerometers. When the temperature bias is corrected, these types of INS are powerful enough to present the periodic signal corresponding to the solid Earth tides. There is also a clear correlation with the data measured at different altitudes by a CG5 gravimeter. However, these data were recorded on static points, so we also studied the INS in a moving platform on a UAV. Because there are a lot of vibrations recorded by the INS (wind, motor, on-board computer), the GPS and accelerometric data need to be filtered extensively. Once the data are corrected so they do not show thermal bias and low-pass filtered, we take the second derivative of the altitude (GPS) data to find the radial accelerometry of the drone and compare it to the radial accelerometry measured directly by the INS, in order to isolate the accelerometric signal that is related to the area that is being studied and the altitude. With a high enough precision, this method could be used to obtain the gravity variations due to the topography and density variations in the ground.

摘要

在本研究中，我们展示了在原位实验期间使用小型惯性导航系统（INS）进行重力测量的可行性，该系统也安装在无人机（UAV）上，以恢复局部重力场变化。所使用的INS是由Advanced Navigation开发的SPATIAL型，它具有三轴加速度计。当温度偏差得到校正后，这类INS有足够的能力呈现与固体地球潮汐相对应的周期性信号。它与CG5重力仪在不同高度测量的数据也有明显的相关性。然而，这些数据是在静态点记录的，所以我们还在无人机的移动平台上研究了INS。由于INS记录了大量的振动（风、电机、机载计算机），GPS和加速度计数据需要进行大量滤波。一旦数据得到校正以消除热偏差并进行低通滤波，我们对高度（GPS）数据求二阶导数以找到无人机的径向加速度，并将其与INS直接测量的径向加速度进行比较，以便分离出与正在研究的区域和高度相关的加速度计信号。如果精度足够高，该方法可用于获取由于地形和地面密度变化引起的重力变化。

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本文引用的文献

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A high-sensitivity MEMS gravimeter with a large dynamic range.一种具有大动态范围的高灵敏度微机电系统重力仪。
Microsyst Nanoeng. 2019 Oct 7;5:45. doi: 10.1038/s41378-019-0089-7. eCollection 2019.