Research on the Gravity Disturbance Compensation Terminal for High-Precision Position and Orientation System
Abstract
:1. Introduction
2. High-Precision Gravity Database
2.1. GGMplus
2.2. High-Precision Gravity Database for Inertial Measurement
2.3. Accuracy Evaluation of Gravity Database
3. B-TV-MM
4. Gravity Disturbance Compensation Device
4.1. Design Principles
4.2. Design Scheme
4.3. Hardware Design
4.4. Algorithm Flow
4.5. Structural Design
5. Experiment
5.1. Experiment Equipment
5.2. The Plan of Flight Experiment
5.3. Data Analysis and Results
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Gravity Disturbance Error (mGal) | Attitude Error (°) | Gravity Disturbance Error (mGal) | Attitude Error (°) |
---|---|---|---|
1 | 0.00011 | 20 | 0.0023 |
5 | 0.00059 | 25 | 0.0029 |
10 | 0.0012 | 30 | 0.0035 |
15 | 0.0018 | 35 | 0.0041 |
POS/AV610 | C/A GPS | RTK | Post-Processing |
---|---|---|---|
Roll and Pitch (°) | 0.005 | 0.005 | 0.0025 |
Gravity Disturbance Data Source | Mean Value (mGal) | Variance | Proportion of Effective Forecast Data | |
---|---|---|---|---|
Northward gravity disturbance | Datum points | −45.33 | 16.6382 | 96.2% |
Interpolation points | −44.87 | 15.9361 | ||
Eastward gravity disturbance | Datum points | −24.83 | 9.2472 | |
Interpolation points | −25.35 | 10.7153 |
Gravity Disturbance Data Source | Mean Value (mGal) | Variance | Proportion of Effective Forecast Data | |
---|---|---|---|---|
Northward gravity disturbance | Datum points | −22.64 | 9.4371 | 96.4% |
Interpolation points | −23.13 | 10.4318 | ||
Eastward gravity disturbance | Datum points | 5.47 | 5.2719 | |
Interpolation points | 5.79 | 5.8332 |
Gravity Disturbance Data Source | Mean Value (mGal) | Variance | Proportion of Effective Forecast Data | |
---|---|---|---|---|
Northward gravity disturbance | Datum points | 10.43 | 4.6281 | 95.3% |
Interpolation points | 10.76 | 4.9416 | ||
Eastward gravity disturbance | Datum points | −55.63 | 21.8427 | |
Interpolation points | −56.14 | 22.2875 |
Sensors | Parameters | Accuracy (Real Time) | Accuracy (Post Processing) |
---|---|---|---|
POS Accuracy | Rate | 200 Hz | 200 Hz |
Roll and Pitch | 0.005° (RMS) | 0.0025° (RMS) | |
Heading | 0.03° (RMS) | 0.005° (RMS) |
POS Index | Yanliang Area | Changzhou Area | Hainan Area | ||||
---|---|---|---|---|---|---|---|
NG. | GC. | NG. | GC. | NG. | GC. | ||
1 | HA. (°) | 0.04d | 0.0379 | 0.0353 | 0.0281 | 0.0335 | 0.0281 |
PA. (°) | 0.0052 | 0.0037 | 0.0062 | 0.0042 | 0.0055 | 0.0042 | |
RA. (°) | 0.0056 | 0.0039 | 0.0054 | 0.0041 | 0.0043 | 0.0032 | |
2 | HA. (°) | 0.0461 | 0.0359 | 0.0291 | 0.0264 | 0.0278 | 0.0239 |
PA. (°) | 0.0058 | 0.0039 | 0.0058 | 0.0042 | 0.0049 | 0.0038 | |
RA. (°) | 0.0058 | 0.0042 | 0.0043 | 0.0031 | 0.0039 | 0.0031 | |
3 | HA. (°) | 0.0367 | 0.0302 | 0.0264 | 0.0221 | 0.0341 | 0.0301 |
PA. (°) | 0.0057 | 0.0039 | 0.0049 | 0.0038 | 0.0056 | 0.0047 | |
RA. (°) | 0.0053 | 0.0035 | 0.0045 | 0.0036 | 0.0052 | 0.0041 |
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Zhu, Z.; Tan, H.; Jia, Y.; Xu, Q. Research on the Gravity Disturbance Compensation Terminal for High-Precision Position and Orientation System. Sensors 2020, 20, 4932. https://doi.org/10.3390/s20174932
Zhu Z, Tan H, Jia Y, Xu Q. Research on the Gravity Disturbance Compensation Terminal for High-Precision Position and Orientation System. Sensors. 2020; 20(17):4932. https://doi.org/10.3390/s20174932
Chicago/Turabian StyleZhu, Zhuangsheng, Hao Tan, Yue Jia, and Qifei Xu. 2020. "Research on the Gravity Disturbance Compensation Terminal for High-Precision Position and Orientation System" Sensors 20, no. 17: 4932. https://doi.org/10.3390/s20174932