共查询到20条相似文献,搜索用时 31 毫秒
1.
M. S. Senobari 《Journal of Geodesy》2010,84(5):277-291
A method for airborne vector gravimetry has been developed. The method is based on developing the error dynamics equations
of the INS in the inertial frame where the INS system errors are estimated in a wave estimator using inertial GPS position
as update. Then using the error-corrected INS acceleration and the GPS acceleration in the inertial frame, the gravity disturbance
vector is extracted. In the paper, the focus is on the improvement of accuracy for the horizontal components of the airborne
gravity vector. This is achieved by using a decoupled model in the wave estimator and decorrelating the gravity disturbance
from the INS system errors through the estimation process. The results of this method on the real strapdown INS/DGPS data
are promising. The internal accuracy of the horizontal components of the estimated gravity disturbance for repeated airborne
lines is comparable with the accuracy of the down component and is about 4–8 mGal. Better accuracy (2–4 mGal) is achieved
after applying a wave-number correlation filter (WCF) to the parallel lines of the estimated airborne gravity disturbances. 相似文献
2.
L&R海空重力仪测量误差综合补偿方法 总被引:2,自引:0,他引:2
为了削弱各类误差源的影响,提出了一种两阶段误差综合补偿方法:第一阶段采用相关分析法对仪器厂家标定的交叉耦合改正(CC改正)的不足进行修正;第二阶段采用测线网平差对各类剩余误差的综合影响进行补偿。实际观测数据处理结果验证了该方法的有效性和可靠性。 相似文献
3.
Local geoid determination from airborne vector gravimetry 总被引:3,自引:2,他引:1
Methods are illustrated to compute the local geoid using the vertical and horizontal components of the gravity disturbance vector derived from an airborne GPS/inertial navigation system. The data were collected by the University of Calgary in a test area of the Canadian Rocky Mountains and consist of multiple parallel tracks and two crossing tracks of accelerometer and gyro measurements, as well as precise GPS positions. Both the boundary-value problem approach (Hotines integral) and the profiling approach (line integral) were applied to compute the disturbing potential at flight altitude. Cross-over adjustments with minimal control were investigated and utilized to remove error biases and trends in the estimated gravity disturbance components. Final estimation of the geoid from the vertical gravity disturbance included downward continuation of the disturbing potential with correction for intervening terrain masses. A comparison of geoid estimates to the Canadian Geoid 2000 (CGG2000) yielded an average standard deviation per track of 14 cm if they were derived from the vertical gravity disturbance (minimally controlled with a cross-over adjustment), and 10 cm if derived from the horizontal components (minimally controlled in part with a simulated cross-over adjustment). Downward continuation improved the estimates slightly by decreasing the average standard deviation by about 0.5 cm. The application of a wave correlation filter to both types of geoid estimates yielded significant improvement by decreasing the average standard deviation per track to 7.6 cm. 相似文献
4.
An evaluation of some systematic error sources affecting terrestrial gravity anomalies 总被引:1,自引:2,他引:1
B. Heck 《Journal of Geodesy》1990,64(1):88-108
Terrestrial free-air gravity anomalies form a most essential data source in the framework of gravity field determination.
Gravity anomalies depend on the datums of the gravity, vertical, and horizontal networks as well as on the definition of a
normal gravity field; thus gravity anomaly data are affected in a systematic way by inconsistencies of the local datums with
respect to a global datum, by the use of a simplified free-air reduction procedure and of different kinds of height system.
These systematic errors in free-air gravity anomaly data cause systematic effects in gravity field related quantities like
e.g. absolute and relative geoidal heights or height anomalies calculated from gravity anomaly data.
In detail it is shown that the effects of horizontal datum inconsistencies have been underestimated in the past. The corresponding
systematic errors in gravity anomalies are maximum in mid-latitudes and can be as large as the errors induced by gravity and
vertical datum and height system inconsistencies. As an example the situation in Australia is evaluated in more detail: The
deviations between the national Australian horizontal datum and a global datum produce a systematic error in the free-air
gravity anomalies of about −0.10 mgal which value is nearly constant over the continent 相似文献
5.
重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息──重力来完成水下运动载体的辅助惯性导航与定位。为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正。分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法。 相似文献
6.
GAINS中重力传感器信息的扰动改正 总被引:5,自引:0,他引:5
重力辅助惯性导航系统GAINS(Gravity Aided Inertial Navigation System)是利用地球物理特征信息重力来完成水下运动载体的辅助惯性导航与定位.为实现重力匹配以校正惯性导航随时间累积的误差,首先必须对重力传感器输出信息进行扰动改正.分析了水下运动状态下重力传感器受到的各种重力扰动,如垂直扰动加速度、水平扰动加速度以及厄特弗斯效应影响所产生的原因,研究了扰动误差模型与INS导航精度之间的关系,并通过计算,提出了可直接以INS输出数据而无需其它外部有源导航信息进行扰动分离的方法. 相似文献
7.
Simulation study of a follow-on gravity mission to GRACE 总被引:9,自引:3,他引:6
The gravity recovery and climate experiment (GRACE) has been providing monthly estimates of the Earth’s time-variable gravity
field since its launch in March 2002. The GRACE gravity estimates are used to study temporal mass variations on global and
regional scales, which are largely caused by a redistribution of water mass in the Earth system. The accuracy of the GRACE
gravity fields are primarily limited by the satellite-to-satellite range-rate measurement noise, accelerometer errors, attitude
errors, orbit errors, and temporal aliasing caused by un-modeled high-frequency variations in the gravity signal. Recent work
by Ball Aerospace & Technologies Corp., Boulder, CO has resulted in the successful development of an interferometric laser
ranging system to specifically address the limitations of the K-band microwave ranging system that provides the satellite-to-satellite
measurements for the GRACE mission. Full numerical simulations are performed for several possible configurations of a GRACE
Follow-On (GFO) mission to determine if a future satellite gravity recovery mission equipped with a laser ranging system will
provide better estimates of time-variable gravity, thus benefiting many areas of Earth systems research. The laser ranging
system improves the range-rate measurement precision to ~0.6 nm/s as compared to ~0.2 μm/s for the GRACE K-band microwave
ranging instrument. Four different mission scenarios are simulated to investigate the effect of the better instrument at two
different altitudes. The first pair of simulated missions is flown at GRACE altitude (~480 km) assuming on-board accelerometers
with the same noise characteristics as those currently used for GRACE. The second pair of missions is flown at an altitude
of ~250 km which requires a drag-free system to prevent satellite re-entry. In addition to allowing a lower satellite altitude,
the drag-free system also reduces the errors associated with the accelerometer. All simulated mission scenarios assume a two
satellite co-orbiting pair similar to GRACE in a near-polar, near-circular orbit. A method for local time variable gravity
recovery through mass concentration blocks (mascons) is used to form simulated gravity estimates for Greenland and the Amazon
region for three GFO configurations and GRACE. Simulation results show that the increased precision of the laser does not
improve gravity estimation when flown with on-board accelerometers at the same altitude and spacecraft separation as GRACE,
even when time-varying background models are not included. This study also shows that only modest improvement is realized
for the best-case scenario (laser, low-altitude, drag-free) as compared to GRACE due to temporal aliasing errors. These errors
are caused by high-frequency variations in the hydrology signal and imperfections in the atmospheric, oceanographic, and tidal
models which are used to remove unwanted signal. This work concludes that applying the updated technologies alone will not
immediately advance the accuracy of the gravity estimates. If the scientific objectives of a GFO mission require more accurate
gravity estimates, then future work should focus on improvements in the geophysical models, and ways in which the mission
design or data processing could reduce the effects of temporal aliasing. 相似文献
8.
Accurate upward continuation of gravity anomalies supports future precision, free-inertial navigation systems, since the latter
cannot by themselves sense the gravitational field and thus require appropriate gravity compensation. This compensation is
in the form of horizontal gravity components. An analysis of the model errors in upward continuation using derivatives of
the standard Pizzetti integral solution (spherical approximation) shows that discretization of the data and truncation of
the integral are the major sources of error in the predicted horizontal components of the gravity disturbance. The irregular
shape of the data boundary, even the relatively rough topography of a simulated mountainous region, has only secondary effect,
except when the data resolution is very high (small discretization error). Other errors due to spherical approximation are
even less important. The analysis excluded all measurement errors in the gravity anomaly data in order to quantify just the
model errors. Based on a consistent gravity field/topographic surface simulation, upward continuation errors in the derivatives
of the Pizzetti integral to mean altitudes of about 3,000 and 1,500 m above the mean surface ranged from less than 1 mGal
(standard deviation) to less than 2 mGal (standard deviation), respectively, in the case of 2 arcmin data resolution. Least-squares
collocation performs better than this, but may require significantly greater computational resources. 相似文献
9.
10.
重力场对惯性导航定位误差影响研究与仿真 总被引:5,自引:0,他引:5
从惯性导航力学编排方程出发,将高阶重力场模型代替正常重力模型,分析了扰动重力引起的惯性导航误差;并从另一角度,对理想状态下扰动重力对惯性导航的影响进行了仿真分析,结果表明扰动重力影响显著.通过将重力垂线偏差分量引入惯性导航方程,改善传统方程的缺陷,探讨了垂线偏差对惯性导航的影响.在全面论述了扰动重力和重力垂线偏差对惯性导航的影响的基础上,结合实际情况提出了进行重力场误差补偿的两种方法. 相似文献
11.
The least squares collocation algorithm for estimating gravity anomalies from geodetic data is shown to be an application
of the well known regression equations which provide the mean and covariance of a random vector (gravity anomalies) given
a realization of a correlated random vector (geodetic data). It is also shown that the collocation solution for gravity anomalies
is equivalent to the conventional least-squares-Stokes' function solution when the conventional solution utilizes properly
weighted zero a priori estimates. The mathematical and physical assumptions underlying the least squares collocation estimator
are described. 相似文献
12.
船载重力测量数据不同测区系统偏差纠正方法研究 总被引:1,自引:0,他引:1
分析了我国近海海域船载重力测量数据特征,并提出了消除不同测区之间重力测线上重力异常存在系统偏差的方案。提出了参考线的选择标准,利用参考测线上交叉点处的残差重力异常不符值,纠正其他测线重力异常的新思路。结果表明,对测线重力进行纠正后,不同测区的重力值不存在系统偏差,交叉点处不符值明显改善,测线上纠正后重力异常明显优于纠正前的重力异常。 相似文献
13.
It is a crucial task to establish a precise mathematical model for global navigation satellite system (GNSS) observations in precise positioning. Due to the spatiotemporal complexity of, and limited knowledge on, systematic errors in GNSS observations, some residual systematic errors would inevitably remain even after corrected with empirical model and parameterization. These residual systematic errors are referred to as unmodeled errors. However, most of the existing studies mainly focus on handling the systematic errors that can be properly modeled and then simply ignore the unmodeled errors that may actually exist. To further improve the accuracy and reliability of GNSS applications, such unmodeled errors must be handled especially when they are significant. Therefore, a very first question is how to statistically validate the significance of unmodeled errors. In this research, we will propose a procedure to examine the significance of these unmodeled errors by the combined use of the hypothesis tests. With this testing procedure, three components of unmodeled errors, i.e., the nonstationary signal, stationary signal and white noise, are identified. The procedure is tested by using simulated data and real BeiDou datasets with varying error sources. The results show that the unmodeled errors can be discriminated by our procedure with approximately 90% confidence. The efficiency of the proposed procedure is further reassured by applying the time-domain Allan variance analysis and frequency-domain fast Fourier transform. In summary, the spatiotemporally correlated unmodeled errors are commonly existent in GNSS observations and mainly governed by the residual atmospheric biases and multipath. Their patterns may also be impacted by the receiver. 相似文献
14.
Johannes Bouman 《Journal of Geodesy》2012,86(4):287-304
The vertical gradients of gravity anomaly and gravity disturbance can be related to horizontal first derivatives of deflection
of the vertical or second derivatives of geoidal undulations. These are simplified relations of which different variations
have found application in satellite altimetry with the implicit assumption that the neglected terms—using remove-restore—are
sufficiently small. In this paper, the different simplified relations are rigorously connected and the neglected terms are
made explicit. The main neglected terms are a curvilinear term that accounts for the difference between second derivatives
in a Cartesian system and on a spherical surface, and a small circle term that stems from the difference between second derivatives
on a great and small circle. The neglected terms were compared with the dynamic ocean topography (DOT) and the requirements
on the GOCE gravity gradients. In addition, the signal root-mean-square (RMS) of the neglected terms and vertical gravity
gradient were compared, and the effect of a remove-restore procedure was studied. These analyses show that both neglected
terms have the same order of magnitude as the DOT gradient signal and may be above the GOCE requirements, and should be accounted
for when combining altimetry derived and GOCE measured gradients. The signal RMS of both neglected terms is in general small
when compared with the signal RMS of the vertical gravity gradient, but they may introduce gradient errors above the spherical
approximation error. Remove-restore with gravity field models reduces the errors in the vertical gravity gradient, but it
appears that errors above the spherical approximation error cannot be avoided at individual locations. When computing the
vertical gradient of gravity anomaly from satellite altimeter data using deflections of the vertical, the small circle term
is readily available and can be included. The direct computation of the vertical gradient of gravity disturbance from satellite
altimeter data is more difficult than the computation of the vertical gradient of gravity anomaly because in the former case
the curvilinear term is needed, which is not readily available. 相似文献
15.
16.
Xiaopeng Li 《Journal of Geodesy》2011,85(9):597-605
Combining data from a Strapdown Inertial Navigation System and a Differential Global Positioning System (SINS/DGPS) has shown
great promise in estimating gravity on moving platforms. Previous studies on a ground-vehicle system obtained 1–3 mGal precision
with 2 km spatial resolution. High-accuracy Inertial Measurement Units (IMU) and cm-level positioning solutions are very important
in obtaining mGal-level gravity disturbance estimates. However, these ideal configurations are not always available or achievable.
Because the noise level in the SINS/DGPS gravimetric system generally decreases with an increase of speed and altitude of
the platform, the stringent constraints on the IMU and GPS may be relieved in the airborne scenario. This paper presents an
investigation of one navigation-grade and one tactical-grade IMU for the possibility of low-cost INS/GPS airborne gravimetry.
We use the data collected during the Gravity-Lidar Study of 2006 (GLS06), which contains aerogravity, GPS, and INS along the
northern coastline of the Gulf of Mexico. The gravity disturbance estimates from the navigation-grade IMU show 0.5–3.2 mGal
precision compared with the onboard gravimeter’s measurements and better than 3 mGal precision compared with the upward continued
surface control data. Due to relatively large (240 s) smoothing window, the results have about 34 km along-track resolution.
But the gravity estimates from the tactical-grade IMU have much poorer precisions. Nonetheless, useful contributions from
the tactical-grade IMU could be extracted for longer wavelengths. 相似文献
17.
An efficient algorithm is proposed for gravity field recovery from Gravity Field and Steady-State Ocean Circulation Explorer
(GOCE) satellite gravity gradient observations. The mathematical model is formulated in the time domain, which allows the
inclusion of realistic observational noise models. The algorithm combines the iterative solution of the normal equations,
using a Richardson-type iteration scheme, with the fast computation of the right-hand side of the normal equations in each
iteration step by a suitable approximation of the design matrix. The convergence of the iteration is investigated, error estimates
are provided, and the unbiasedness of the method is proved. It is also shown that the method does not converge to the solution
of the normal equations. The performance of the approach for white noise and coloured noise is demonstrated along a simulated
GOCE orbit up to spherical harmonic degree and order 180. The results also indicate that the approximation error may be neglected.
Received: 30 November 1999 / Accepted: 31 May 2000 相似文献
18.
Christopher Jekeli 《Journal of Geodesy》1980,54(2):137-147
Errors are considered in the outer zone contribution to oceanic undulation differences as obtained from a set of potential
coefficients complete to degree 180. It is assumed that the gravity data of the inner zone (a spherical cap), consisting of
either gravity anomalies or gravity disturbances, has negligible error. This implies that error estimates of the total undulation
difference are analyzed. If the potential coefficients are derived from a global field of 1°×1° mean anomalies accurate to
εΔg=10 mgal, then for a cap radius of 10°, the undulation difference error (for separations between 100 km and 2000 km) ranges
from 13 cm to 55 cm in the gravity anomaly case and from 6 cm to 36 cm in the gravity disturbance case. If εΔg is reduced to 1 mgal, these errors in both cases are less than 10 cm. In the absence of a spherical cap, both cases yield
identical error estimates: about 68 cm if εΔg=1 mgal (for most separations) and ranging from 93 cm to 160 cm if εΔg=10 mgal. Introducing a perfect 30-degree reference field, the latter errors are reduced to about 110 cm for most separations. 相似文献
19.
Improved GRACE science results after adjustment of geometric biases in the Level-1B K-band ranging data 总被引:3,自引:1,他引:2
Martin Horwath Jean-Michel Lemoine Richard Biancale Stéphane Bourgogne 《Journal of Geodesy》2011,85(1):23-38
The GRACE (Gravity Recovery and Climate Experiment) satellite mission relies on the inter-satellite K-band microwave ranging
(KBR) observations. We investigate systematic errors that are present in the Level-1B KBR data, namely in the geometric correction.
This correction converts the original ranging observation (between the two KBR antennas phase centers) into an observation
between the two satellites’ centers of mass. It is computed from data on the precise alignment between both satellites, that
is, between the lines joining the center of mass and the antenna phase center of either satellite. The Level-1B data used
to determine this alignment exhibit constant biases as large as 1–2 mrad in terms of pitch and yaw alignment angles. These
biases induce non-constant errors in the Level-1B geometric correction. While the precise origin of the biases remains to
be identified, we are able to estimate and reduce them in a re-calibration approach. This significantly improves time-variable
gravity field solutions based on the CNES/GRGS processing strategy. Empirical assessments indicate that the systematic KBR
data errors have previously induced gravity field errors on the level of 6–11 times the so-called GRACE baseline error level.
The zonal coefficients (from degree 14) are particularly affected. The re-calibration reduces their rms errors by about 50%.
As examples for geophysical inferences, the improvement enhances agreement between mass variations observed by GRACE and in-situ
ocean bottom pressure observations. The improvement also importantly affects estimates of inter-annual mass variations of
the Antarctic ice sheet. 相似文献
20.
Computation of spherical harmonic coefficients and their error estimates using least-squares collocation 总被引:4,自引:0,他引:4
C. C. Tscherning 《Journal of Geodesy》2001,75(1):12-18
Equations expressing the covariances between spherical harmonic coefficients and linear functionals applied on the anomalous
gravity potential, T, are derived. The functionals are the evaluation functionals, and those associated with first- and second-order derivatives
of T. These equations form the basis for the prediction of spherical harmonic coefficients using least-squares collocation (LSC).
The equations were implemented in the GRAVSOFT program GEOCOL. Initially, tests using EGM96 were performed using global and
regional sets of geoid heights, gravity anomalies and second-order vertical gravity gradients at ground level and at altitude.
The global tests confirm that coefficients may be estimated consistently using LSC while the error estimates are much too
large for the lower-order coefficients. The validity of an error estimate calculated using LSC with an isotropic covariance
function is based on a hypothesis that the coefficients of a specific degree all belong to the same normal distribution. However,
the coefficients of lower degree do not fulfil this, and this seems to be the reason for the too-pessimistic error estimates.
In order to test this the coefficients of EGM96 were perturbed, so that the pertubations for a specific degree all belonged
to a normal distribution with the variance equal to the mean error variance of the coefficients. The pertubations were used
to generate residual geoid heights, gravity anomalies and second-order vertical gravity gradients. These data were then used
to calculate estimates of the perturbed coefficients as well as error estimates of the quantities, which now have a very good
agreement with the errors computed from the simulated observed minus calculated coefficients. Tests with regionally distributed
data showed that long-wavelength information is lost, but also that it seems to be recovered for specific coefficients depending
on where the data are located.
Received: 3 February 2000 / Accepted: 23 October 2000 相似文献