Research On Key Technologies Of Underwater Gravity Measurement System

With the increasing use of gravity measurement technology and strapdown inertial navigation technology,research on underwater gravity measurement systems has gradually attracted people’s attention.Therefore,this paper carries out research on key technologies of underwater gravity measurement systems,including calibration,dynamic initial alignment,and underwater gravity measurement processing software.The main research contents and results are as follows:The error model of the strapdown gravimeter is established,and the angle increment experiment,position experiment and experiments based on orchestration order are designed.The traditional calibration and systematic calibration experiments are completed on the turntable,and various parameter items are obtained to improve navigation accuracy.The improvement of accuracy is compared with the convergence process of systematic calibration using the double sub-sample algorithm and the Picard algorithm to update the quaternion.The coarse alignment algorithm in the mooring state of the strapdown gravimeter is given.The Kalman filter is used to achieve the fine alignment.Finally,in order to eliminate the influence of the lever arm effect on the initial alignment,a lever arm compensation scheme is used to solve the effect.And the preparation of algorithm programs and the design of experiments are used to verify the correctness of the algorithm.A three-tier architecture is used to compile the underwater gravity measurement data processing software based on C#.And the data processing software includes features such as preprocessing,gravitational anomaly calculation and graphic display.The software can run stably with good visualization features and scalability.The research work in this paper has important reference value for the study of underwater gravity measurement system.