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Sensors 2015, 15(9), 23477-23495;

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

College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 29 July 2015 / Revised: 10 September 2015 / Accepted: 10 September 2015 / Published: 16 September 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
PDF [1431 KB, uploaded 16 September 2015]


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. View Full-Text
Keywords: SGA-WZ02; SINS/GNSS; ground vehicle gravimetry; FIR filter; internal and external accuracy SGA-WZ02; SINS/GNSS; ground vehicle gravimetry; FIR filter; internal and external accuracy

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Yu, R.; Cai, S.; Wu, M.; Cao, J.; Zhang, K. An SINS/GNSS Ground Vehicle Gravimetry Test Based on SGA-WZ02. Sensors 2015, 15, 23477-23495.

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