Abstract

Autonomous underwater vehicle (AUV) can be controlled autonomously and cable-less, which can reduce the cost and has good applicability for underwater gravity measurement. Based on airborne gravity measurement, the basic principle of underwater moving gravity measurement is studied, and the mathematical model of AUV underwater moving gravity measurement is established, which based on the data obtained by the gravimeter with a fibre optic inertial navigation system (INS), short baseline underwater acoustic positioning (SBL), Doppler velocity log (DVL) and depth gauge (DG). Underwater experimental verification system of moving gravity measurement consists of the reformed BQR800 Unmanned Underwater Vehicle and dg-M strapdown gravimeter. Mulan Lake in Wuhan was selected as the experimental site. Experimental scheme and processing flow of underwater moving gravity measurement data was designed. Data obtained by strapdown gravimeter, DG, DVL, SBL and other equipment was analysed, and the data calculation was completed. Moreover, the repetition lines are selected to evaluate the repeatability of gravity measurement. The experiment al verification of gravity measurement for three return trips were carried out from January 7 to 8, 2020. The accuracy of repetition line reached 0.42 mGal, which verified the feasibility of underwater moving gravity measurement.

摘要

自主的水下航行器（AUV）可以自动控制且无需电缆，这可以降低成本，并且对水下重力测量具有良好的适用性。基于机载重力测量，研究了水下运动重力测量的基本原理，并基于重力仪通过光纤惯性导航系统（INS）获得的数据，建立了水下机器人水下运动重力测量的数学模型，短基线水下声学定位（SBL），多普勒速度测井（DVL）和深度计（DG）。移动重力测量的水下实验验证系统由改良的BQR800无人机和dg-M捷联式重力仪组成。武汉木兰湖被选为实验点。设计了水下运动重力测量数据的实验方案和处理流程。分析了捷联重力仪，DG，DVL，SBL等设备获得的数据，并完成了数据计算。此外，选择重复线以评估重力测量的重复性。于2020年1月7日至8日进行了3次回程重力测量的实验验证。重复线的精度达到0.42 mGal，验证了水下运动重力测量的可行性。