A Method for Land Vehicle Gravity Anomaly Measurement Combining an Inertial Navigation System, Odometer, and Geo-Information System
Abstract
:1. Introduction
2. Strapdown Land Vehicle Gravity Anomaly Measurement Principle
2.1. Mathematical Model
2.2. Error Model
3. SINS/OD/GIS Gravity Anomaly Measurement Method
- (1)
- SINS performs an inertial navigation solution, and the velocity of OD is observed for integrated navigation. The carrier’s specific force, attitude, velocity, and position information are calculated using SINS/OD integrated navigation.
- (2)
- The commercial geographic information software ArcGIS 10.8 was used to extract the elevation information of the survey line. See Figure 2 for the specific process.
- (3)
- The original gravity anomaly is calculated by Equation (4).
- (4)
- The external coincidence accuracy evaluation is carried out.
4. Experiments
5. Results and Discussion
5.1. Data Processing
5.2. Test Results
5.3. Discussion
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Items | Parameter | Performance Index |
---|---|---|
Inertial measurement unit | Sampling frequency | 200 Hz |
Gyroscope zero bias | 0.003 (°)/h | |
Accelerometer zero bias | 10 μg | |
Odometer | Calibration coefficient | 0.9986 m/pulse |
GPS parameter | Sampling frequency | 1 Hz |
Positioning accuracy | 5 m |
Items | Max | Min | Mean | RMS | Accuracy |
---|---|---|---|---|---|
SINS/GNSS | 2.56 | −2.23 | 1.36 | 1.49 | 1.49 |
SINS/OD | 3.12 | −5.74 | 2.09 | 2.35 | 2.35 |
SINS/OD/GIS | 2.86 | −3.57 | 1.32 | 1.65 | 1.65 |
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Zhang, K.; Zhao, J.; Zhang, Z. A Method for Land Vehicle Gravity Anomaly Measurement Combining an Inertial Navigation System, Odometer, and Geo-Information System. World Electr. Veh. J. 2024, 15, 368. https://doi.org/10.3390/wevj15080368
Zhang K, Zhao J, Zhang Z. A Method for Land Vehicle Gravity Anomaly Measurement Combining an Inertial Navigation System, Odometer, and Geo-Information System. World Electric Vehicle Journal. 2024; 15(8):368. https://doi.org/10.3390/wevj15080368
Chicago/Turabian StyleZhang, Kefan, Junyang Zhao, and Zhili Zhang. 2024. "A Method for Land Vehicle Gravity Anomaly Measurement Combining an Inertial Navigation System, Odometer, and Geo-Information System" World Electric Vehicle Journal 15, no. 8: 368. https://doi.org/10.3390/wevj15080368