Data processing of shipborne absolute gravity measurement based on extended Kalman filter algorithm

Zhu Dong; Xu Han; Zhou Yin; Wu Bin; Cheng Bing; Wang Kai-Nan; Chen Pei-Jun; Gao Shi-Teng; Weng Kan-Xing; Wang He-Lin; Peng Shu-Ping; Qiao Zhong-Kun; Wang Xiao-Long; Lin Qiang

doi:10.7498/aps.71.20220071

Abstract

The precision dynamic measurement of absolute gravity based on the cold atom interferometer can provide a new method for marine gravimetry, so that it has attracted more attention. Based on the homemade shipborne cold atom interferometric absolute gravity measurement system, we carry out a series of measurement experiments in a certain area of the South China Sea. Under dynamic conditions, the suppression of measurement noise is essential for the improvement of the measurement performance. According to the physical model of the measurement system, in this paper a data processing method is proposed based on the extended Kalman filter algorithm for the absolute gravity dynamic measurement. The observed atomic interference fringe data are filtered in the time domain to estimate the absolute gravity value. Based on this processing method, the sensitivity of absolute gravity measurement under the condition of ship speed less than 2.1 km/h is improved from 300.2 mGal/Hz^1/2 to 136.8 mGal/Hz^1/2 (T = 4 ms). Comparing the processed data with the data calculated from the earth gravity model (XGM2019), it is found that both of the data are in good agreement. These results confirm the effectiveness of the data processing method proposed in this paper, and provide a new processing method of suppressing the measurement noise of shipborne cold atom interferometric absolute gravity measurement system.

Keywords:

Authors and contacts

Zhejiang Provincial Key Laboratory of Quantum Precision Measurement, College of Science, Zhejiang University of Technology, Hangzhou 310023, China

Corresponding author: Wu Bin, wubin@zjut.edu.cn ; Lin Qiang, qlin@zjut.edu.cn

Funds: Project supported by the National Key Research and Development Program of China (Grant No. 2017YFC0601602), the National Natural Science Foundation of China (Grant Nos. 51905482, 61727821, 61875175, 11704334). the China Aero Geophysical Survey and Remote Sensing Center for Natural Resources Program (Grant No. DD20189831), the Experiments for Space Exploration Program and the Qian Xuesen Laboratory, China Academy of Space Technology (Grant No. TKTSPY-2020-06-01)

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References

[1]	Kasevich M, Chu S 1992 Appl. Phys. B:Photophys. Laser Chem. 54 321 Google Scholar
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Cited By

图 1 船载冷原子干涉式绝对重力动态测量原理

Figure 1. The principle of absolute gravity dynamic measurement based on cold atom interferometer on ship.

DownLoad: Full-Size Img PowerPoint

图 2 船载绝对重力动态测量系统示意图

Figure 2. Schematic diagram of marine dynamic absolute gravity measurement system.

DownLoad: Full-Size Img PowerPoint

图 3 可移动的原子重力仪实验室　(a)实验室内部仪器设备布局示意图; (b)可移动实验室实物图

Figure 3. Transportable laboratory for atomic gravimeter: (a) Schematic diagram of the internal layout of instruments and equipments in the laboratory; (b) photo of the transportable laboratory.

DownLoad: Full-Size Img PowerPoint

图 4 绝对重力动态测量的航线与船速　(a)航行路线; (b)航行速度

Figure 4. Route and ship speed of absolute gravity dynamic measurement: (a) Sailing route of the ship; (b) speed of the ship.

DownLoad: Full-Size Img PowerPoint

图 5 船载动态测量的振动环境与原子干涉条纹　(a)竖直方向振动加速度的功率谱密度(PSD); (b)原子干涉条纹

Figure 5. The vibration environment and atomic interference fringes for shipborne dynamic measurements: (a) Power spectral density (PSD) of the vertical vibration acceleration; (b) atomic interference fringes.

DownLoad: Full-Size Img PowerPoint

图 6 绝对重力值原始数据

Figure 6. Raw data for absolute gravity values.

DownLoad: Full-Size Img PowerPoint

图 7 通过不同算法获得的重力值的Allan偏差数据

Figure 7. Allan deviation data of gravity values obtained by different algorithms.

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图 8 动态绝对重力数据处理结果　(a)使用不同算法获得的绝对重力值; (b)修正系统误差后的绝对重力值; (c)绝对重力值g_Est与由重力模型计算的结果的残差数据

Figure 8. Comparison of the absolute gravity data: (a) Absolute gravity values obtained by the different algorithms; (b) absolute gravity values obtained after correcting the systematic errors; (c) the residual data between the absolute gravity values g_Est and the calculated results based on the gravity model.

DownLoad: Full-Size Img PowerPoint

map

[1]	Kasevich M, Chu S 1992 Appl. Phys. B:Photophys. Laser Chem. 54 321 Google Scholar
[2]	Peters A, Chung K Y, Chu S 2001 Metrologia 38 25 Google Scholar
[3]	Bidel Y, Carraz O, Charriere R, Cadoret M, Zahzam N, Bresson A 2013 Appl. Phys. Lett. 102 144107 Google Scholar
[4]	Ménoret V, Vermeulen P, Le Moigne N, Bonvalot S, Bouyer P, Landragin A, Desruelle B 2018 Sci. Rep. 8 1
[5]	Fu Z, Wang Q, Wang Z, Wu B, Cheng B, Lin Q 2019 Chin. Opt. Lett. 17 011204 Google Scholar
[6]	Huang P W, Tang B, Chen X, Zhong J Q, Xiong Z Y, Zhou L, Wang J, Zhan M S 2019 Metrologia 56 045012 Google Scholar
[7]	Jiang Z, Palinkas V, Arias F E, et al. 2012 Metrologia 49 666 Google Scholar
[8]	Farah T, Guerlin C, Landragin A, Bouyer P, Gaffet S, Dos Santos F P, Merlet S 2014 Gyroscopy and Navigation 5 266 Google Scholar
[9]	Gillot P, Francis O, Landragin A, Dos Santos F P, Merlet S 2014 Metrologia 51 L15 Google Scholar
[10]	Freier C, Hauth M, Schkolnik V, Leykauf B, Schilling M, Wziontek H, Scherneck H G, Muller J, Peters A 2016 J. Phys. Conf. Ser. 723 012050 Google Scholar
[11]	Geiger R, Menoret V, Stern G, Zahzam N, Cheinet P, Battelier B, Villing A, Moron F, Lours M, Bidel Y, Bresson A, Landragin A, Bouyer P 2011 Nat. Commun. 2 474 Google Scholar
[12]	Fu Z J, Wu B, Cheng B, Zhou Y, Weng K X, Zhu D, Wang Z Y, Lin Q 2019 Metrologia 56 025001 Google Scholar
[13]	Wu X, Pagel Z, Malek B S, Nguyen T H, Zi F, Scheirer D S, Muller H 2019 Sci. Adv. 5 eaax0800 Google Scholar
[14]	吴彬, 周寅, 程冰, 朱栋, 王凯楠, 朱欣欣, 陈佩军, 翁堪兴, 杨秋海, 林佳宏, 张凯军, 王河林, 林强 2020 69 060302 Google Scholar Wu B, Zhou Y, Cheng B, Zhu D, Wang K N, Zhu X X, Chen P J, Weng K X, Yang Q H, Lin J H, Zhang K J, Wang H L, Lin Q 2020 Acta Phys. Sin. 69 060302 Google Scholar
[15]	Wu S, Feng J, Li C, Su D, Wang Q, Hu R, Mou L 2021 J. Geod. 95 63 Google Scholar
[16]	程冰, 周寅, 陈佩军, 张凯军, 朱栋, 王凯楠, 翁堪兴, 王河林, 彭树萍, 王肖隆, 吴彬, 林强 2021 70 040304 Google Scholar Cheng B, Zhou Y, Chen P J, Zhang K J, Zhu D, Wang K N, Weng K X, Wang H L, Peng S P, Wang X L, Wu B, Lin Q 2021 Acta Phys. Sin. 70 040304 Google Scholar
[17]	Bidel Y, Zahzam N, Bresson A, Blanchard C, Cadoret M, Olesen A V, Forsberg R 2020 J. Geod. 94 20 Google Scholar
[18]	Bidel Y, Zahzam N, Blanchard C, Bonnin A, Cadoret M, Bresson A, Rouxel D, Lequentrec-Lalancette M F 2018 Nat. Commun. 9 627 Google Scholar
[19]	Merlet S, Le Goueet J, Bodart Q, Clairon A, Landragin A, Dos Santos F P, Rouchon P 2009 Metrologia 46 87 Google Scholar
[20]	Reif K, Gunther S, Yaz E, Unbehauen R 1999 IEEE Trans. Autom. Control 44 714 Google Scholar
[21]	Kappl J J 1971 IEEE Trans. Aerosp. Electron. Syst. aes-7 79
[22]	Sastry V A, Noton A R M 1971 IEEE Trans. Autom. Control 16 260 Google Scholar
[23]	Canciani A, Raquet J 2012 Proceedings of the 2012 International Technical Meeting of The Institute of Navigation, 2012 pp151–185
[24]	Tennstedt B, Schön S 2021 Proceedings of 28th St. Petersburg International Conference on Integrated Navigation Systems, 2021
[25]	Jiménez-Martínez R, Kołodyński J, Troullinou C, Lucivero V G, Kong J, Mitchell M W 2018 Phys. Rev. Lett. 120 040503 Google Scholar
[26]	Cheiney P, Fouche L, Templier S, Napolitano F, Battelier B, Bouyer P, Barrett B 2018 Phys. Rev. Appl. 10 034030 Google Scholar
[27]	Wu B, Zhu D, Cheng B, Wu L, Wang K, Wang Z, Shu Q, Li R, Wang H, Wang X, Lin Q 2019 Opt. Express 27 11252 Google Scholar
[28]	吴彬, 程冰, 付志杰, 朱栋, 周寅, 翁堪兴, 王肖隆, 林强 2018 67 190302 Google Scholar Wu B, Cheng B, Fu Z-J, Zhu D, Zhou Y, Weng K X, Wang X L, Lin Q 2018 Acta Phys. Sin. 67 190302 Google Scholar
[29]	Cheinet P, Canuel B, Dos Santos F P, Gauguet A, Yver-Leduc F, Landragin A 2008 IEEE Trans. Instrum. Meas. 57 1141 Google Scholar
[30]	Zingerle P, Pail R, Gruber T, Oikonomidou X 2020 J. Geod. 94 1 Google Scholar
[31]	Zhu D, Zhou Y, Wu B, Weng K, Wang K, Cheng B, Lin Q 2021 Appl. Opt. 60 7910 Google Scholar
[32]	Gauguet A, Mehlstäubler T E, Lévèque T, Gouët J L, Chaibi O, Canuel B, Clairon A, Santos F P D, Landragin A 2008 Phys. Rev. A 78 4702
[33]	Baumann H, Klingele E E, Marson I 2012 Geophys. Prospect. 60 361 Google Scholar

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