Juliang Cao

A Novel Angle Computation and Calibration Algorithm of Bio-Inspired Sky-Light Polarization Navigation Sensor

Navigation plays a vital role in our daily life. As traditional and commonly used navigation technologies, Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) can provide accurate location information, but suffer from the accumulative error of inertial sensors and cannot be used in a satellite denied environment. The remarkable navigation ability of animals shows that the pattern of the polarization sky can be used for navigation. A bio-inspired POLarization Navigation Sensor (POLNS) is constructed to detect the polarization of skylight. Contrary to the previous approach, we utilize all the outputs of POLNS to compute input polarization angle, based on Least Squares, which provides optimal angle estimation. In addition, a new sensor calibration algorithm is presented, in which the installation angle errors and sensor biases are taken into consideration. Derivation and implementation of our calibration algorithm are discussed in detail. To evaluate the performance of our algorithms, simulation and real data test are done to compare our algorithms with several exiting algorithms. Comparison results indicate that our algorithms are superior to the others and are more feasible and effective in practice.

The first airborne scalar gravimetry system based on SINS/DGPS in China

China has developed an airborne gravimetry system based on SINS/DGPS named SGA-WZ, the first system in which a strapdown inertial navigation system (SINS) has been used for airborne gravimetry in China. This gravity measurement system consists of a strap-down inertial navigation system and a differential global positioning system (DGPS). In April 2010, a flight test was carried out in Shandong Province of China to test the accuracy of this system. The test was designed to assess the repeatability and accuracy of the system. Two repeated flights and six grid flights were made. The flying altitude was about 400 m. The average flying speed was about 60 m/s, which corresponds to a spatial resolution of 4.8 km when using 160-s cutoff low-pass filter. This paper describes the data processing of the system. The evaluation of the internal precision is based on repeated flights and differences in crossover points. Gravity results in this test from the repeated flight lines show that the repeatability of the repeat lines is 1.6 mGal with a spatial resolution of 4.8 km, and the internal precision of grid flight data is 3.2 mGal with a spatial resolution of 4.8 km. There are some systematic errors in the gravity results, which can be modeled using trigonometric function. After the systematic errors are compensated, the precision of grid flight data can be better than 1 mGal.

New Matching Method for Accelerometers in Gravity Gradiometer

The gravity gradiometer is widely used in mineral prospecting, including in the exploration of mineral, oil and gas deposits. The mismatch of accelerometers adversely affects the measuring precision of rotating accelerometer-based gravity gradiometers. Several strategies have been investigated to address the imbalance of accelerometers in gradiometers. These strategies, however, complicate gradiometer structures because feedback loops and re-designed accelerometers are needed in these strategies. In this paper, we present a novel matching method, which is based on a new configuration of accelerometers in a gravity gradiometer. In the new configuration, an angle was introduced between the measurement direction of the accelerometer and the spin direction. With the introduced angle, accelerometers could measure the centrifugal acceleration generated by the rotating disc. Matching was realized by updating the scale factors of the accelerometers with the help of centrifugal acceleration. Further simulation computations showed that after adopting the new matching method, signal-to-noise ratio improved from −41 dB to 22 dB. Compared with other matching methods, our method is more flexible and costs less. The matching accuracy of this new method is similar to that of other methods. Our method provides a new idea for matching methods in gravity gradiometer measurement.

An experimental evaluation of autonomous underwater vehicle localization on geomagnetic map

This letter reports an experimental evaluation of a three-axis magnetometer into an inertial navigation system (INS) for underwater localization. The magnetometer measurements of geomagnetic field are compared with map values to provide position updates to the INS. The concept of such navigation system is not new but lacks test verification and actual application. We examine the capabilities of the integrated navigation by using a localization algorithm based on the interval knowledge of geomagnetic field values. The underwater experimental result indicates that the use of geomagnetic values significantly reduces the growth of position errors of an INS.

A flight test of the strapdown airborne gravimeter SGA-WZ in Greenland

An airborne gravimeter is one of the most important tools for gravity data collection over large areas with mGal accuracy and a spatial resolution of several kilometers. In August 2012, a flight test was carried out to determine the feasibility and to assess the accuracy of the new Chinese SGA-WZ strapdown airborne gravimeter in Greenland, in an area with good gravity coverage from earlier marine and airborne surveys. An overview of this new system SGA-WZ is given, including system design, sensor performance and data processing. The processing of the SGA-WZ includes a 160 s length finite impulse response filter, corresponding to a spatial resolution of 6 km. For the primary repeated line, a mean r.m.s. deviation of the differences was less than 1.5 mGal, with the error estimate confirmed from ground truth data. This implies that the SGA-WZ could meet standard geophysical survey requirements at the 1 mGal level.

Airborne Gravity Data Denoising Based on Empirical Mode Decomposition: A Case Study for SGA-WZ Greenland Test Data

Surveying the Earth’s gravity field refers to an important domain of Geodesy, involving deep connections with Earth Sciences and Geo-information. Airborne gravimetry is an effective tool for collecting gravity data with mGal accuracy and a spatial resolution of several kilometers. The main obstacle of airborne gravimetry is extracting gravity disturbance from the extremely low signal to noise ratio measuring data. In general, the power of noise concentrates on the higher frequency of measuring data, and a low pass filter can be used to eliminate it. However, the noise could distribute in a broad range of frequency while low pass filter cannot deal with it in pass band of the low pass filter. In order to improve the accuracy of the airborne gravimetry, Empirical Mode Decomposition (EMD) is employed to denoise the measuring data of two primary repeated flights of the strapdown airborne gravimetry system SGA-WZ carried out in Greenland. Comparing to the solutions of using finite impulse response filter (FIR), the new results are improved by 40% and 10% of root mean square (RMS) of internal consistency and external accuracy, respectively.

A new method for land vehicle gravimetry using SINS/VEL

The use of Global Navigation Satellite System (GNSS) data for land vehicle gravimetry tests is challenged by complicated environments. A new approach for land vehicle gravimetry using a Strapdown Inertial Navigation System and velometer-integrated navigation computation (SINS/VEL) without using GNSS information has been put forward. Aided by the velometer with continuous longitudinal velocity output instead of GNSS signals, a SGA-WZ02 strapdown gravimeter that used the SINS/VEL method was tested in 2015. Four repeated lines were measured along a south-north direction highway in Eastern Changsha to verify the new method’s feasibility and performance. The gravity disturbance results showed an internal accuracy in scalar gravimetry about 1.17 mGal and 1.91 mGal for external accuracy assessment, with a spatial resolution of 1.7 km. Comparing this new method with the traditional SINS/GNSS gravimetry approach, it appeared that the results using SINS/VEL showed comparable internal and external accuracy. Theoretical analysis and practical test results showed that the new method was feasible for gravity determination by land dynamic vehicle.

Optimized Design of the SGA-WZ Strapdown Airborne Gravimeter Temperature Control System.

The temperature control system is one of the most important subsystems of the strapdown airborne gravimeter. Because the quartz flexible accelerometer based on springy support technology is the core sensor in the strapdown airborne gravimeter and the magnet steel in the electromagnetic force equilibrium circuits of the quartz flexible accelerometer is greatly affected by temperature, in order to guarantee the temperature control precision and minimize the effect of temperature on the gravimeter, the SGA-WZ temperature control system adopts a three-level control method. Based on the design experience of the SGA-WZ-01, the SGA-WZ-02 temperature control system came out with a further optimized design. In 1st level temperature control, thermoelectric cooler is used to conquer temperature change caused by hot weather. The experiments show that the optimized stability of 1st level temperature control is about 0.1 °C and the max cool down capability is about 10 °C. The temperature field is analyzed in the 2nd and 3rd level temperature control using the finite element analysis software ANSYS. The 2nd and 3rd level temperature control optimization scheme is based on the foundation of heat analysis. The experimental results show that static accuracy of SGA-WZ-02 reaches 0.21 mGal/24 h, with internal accuracy being 0.743 mGal/4.8 km and external accuracy being 0.37 mGal/4.8 km compared with the result of the GT-2A, whose internal precision is superior to 1 mGal/4.8 km and all of them are better than those in SGA-WZ-01.

An SINS/GNSS Ground Vehicle Gravimetry Test Based on SGA-WZ02

In March 2015, a ground vehicle gravimetry test was implemented in eastern Changsha to assess the repeatability and accuracy of ground vehicle SINS/GNSS gravimeter—SGA-WZ02. The gravity system developed by NUDT consisted of a Strapdown Inertial Navigation System (SINS), a Global Navigation Satellite System (GNSS) remote station on test vehicle, a GNSS static master station on the ground, and a data logging subsystem. A south-north profile of 35 km along the highway in eastern Changsha was chosen and four repeated available measure lines were obtained. The average speed of a vehicle is 40 km/h. To assess the external ground gravity disturbances, precise ground gravity data was built by CG-5 precise gravimeter as the reference. Under relative smooth conditions, internal accuracy among repeated lines shows an average agreement at the level of 1.86 mGal for half wavelengths about 1.1 km, and 1.22 mGal for 1.7 km. The root-mean-square (RMS) of difference between calculated gravity data and reference data is about 2.27 mGal/1.1 km, and 1.74 mGal/1.7 km. Not all of the noises caused by vehicle itself and experiments environments were eliminated in the primary results. By means of selecting reasonable filters and improving the GNSS observation conditions, further developments in ground vehicle gravimetry are promising.

Strapdown Airborne Gravimetry Quality Assessment Method Based on Single Survey Line Data: A Study by SGA-WZ02 Gravimeter

Quality assessment is an important part in the strapdown airborne gravimetry. Root mean square error (RMSE) evaluation method is a classical way to evaluate the gravimetry quality, but classical evaluation methods are preconditioned by extra flight or reference data. Thus, a method, which is able to largely conquer the premises of classical quality assessment methods and can be used in single survey line, has been developed in this paper. According to theoretical analysis, the method chooses the stability of two horizontal attitude angles, horizontal specific force and vertical specific force as the determinants of quality assessment method. The actual data, collected by SGA-WZ02 from 13 flights 21 lines in certain survey, was used to build the model and elaborate the method. To substantiate the performance of the quality assessment model, the model is applied in extra repeat line flights from two surveys. Compared with internal RMSE, standard deviation of assessment residuals are 0.23 mGal and 0.16 mGal in two surveys, which shows that the quality assessment method is reliable and stricter. The extra flights are not necessary by specially arranging the route of flights. The method, summarized from SGA-WZ02, is a feasible approach to assess gravimetry quality using single line data and is also suitable for other strapdown gravimeters.