Search Results (7)

The passive nature of gravity matching navigation, along with its concealment and freedom from error accumulation over time, is essential for reducing inertial navigation system (INS) errors and enabling high-precision autonomous underwater positioning. The current paper provides a systematic review of major technologies in the field, including the development of underwater gravimeters, construction of gravity reference maps, suitable area selection, optimization of matching algorithms, gravity–inertial integrated navigation, and path planning. We discuss hardware developments, including classical sensors, gradiometers, and quantum sensors, as well as methodological concepts such as multi-source sensor data fusion, intelligent area selection, algorithm optimizations, connections between multiple filters, and intelligent trajectory design. Despite a relatively well-developed technical infrastructure, several bottlenecks remain, including the low engineering maturity of high-end hardware, poor algorithmic performance under extreme conditions, over-reliance on simulation, and weak module integration. Future research should focus on hardware miniaturization, cross-domain intelligent adaptive algorithms, multi-condition real-world validation, and the transition from loosely coupled to tightly coupled architectures to achieve improved accuracy and robustness. Full article

Gravity on Earth is of great interest in geodesy, geophysics, and natural resource exploration. Ship-based gravimeters are a widely used instrument for the collection of surface gravity field data in marine regions. However, due to the considerable distance from the sea surface to the seafloor, the spatial resolution of surface gravity data collected from ships is often insufficient to image the detail of seafloor geological structures and to explore offshore natural minerals. Therefore, the development of a mobile underwater gravimetry system is necessary. The GraviMob gravimeter, developed for a moving underwater platform by Geo-Ocean (UMR 6538 CNRS-Ifremer-UBO-UBS), GeF (UR4630, Cnam) and MAPPEM Geophysics, has been tested over the last few years. In this study, we report on the high-resolution gravity measurements from the GraviMob system mounted on an Autonomous Underwater Vehicle, which can measure at depths of up to several kilometres. The dedicated GraviMob underwater gravity measurements were conducted in the Mediterranean Sea in March 2016, with a total of 26 underwater measurement profiles. All these measurement profiles were processed and validated. In a first step, the GraviMob gravity measurements were corrected for temperature based on a linear relationship between temperature and gravity differences. Through repeated profiles, we acquired GraviMob gravity measurements with an estimated error varying from 0.8 to 2.6 mGal with standard deviation after applying the proposed temperature correction. In a second step, the shipborne gravity data were downward continued to the measurement depth to validate the GraviMob measurements. Comparisons between the corrected GraviMob gravity anomalies and downward continued surface shipborne gravity data revealed a standard deviation varying from 0.8 to 3.2 mGal and a mean bias value varying from −0.6 to 0.6 mGal. These results highlight the great potential of the GraviMob system in measuring underwater gravity. Full article

After more than 30 years of development, the measurement performance of atom gravimeters in the laboratory has reached a high level. More and more compact, small, portable instruments begin to appear, and field measurements have been conducted gradually. At present, the field measurements of atom gravimeters are mostly static or “stop-and-go” quasi-dynamic experiments, and the research on dynamic measurement is still in its infancy. High-precision absolute gravity dynamic surveying in the field has shown attractive prospects in many aspects, and many researchers have carried out research on it. This paper first reviews the main research work of the atom gravimeter, especially its dynamic measurement technology. Then it introduces the reported principle, scheme, and equipment of atom gravimeter dynamic measurement. The generation mechanism and suppression methods of the main error sources of dynamic measurement, such as vibration noise, accelerometer drift, and carrier dynamic effect, are analyzed. Finally, the application prospects of atom gravimeter dynamic measurement technology in gravity field mapping, navigation, and underwater target detection are discussed. Full article

The purpose of this paper is to present the design, development and testing of an innovative instrument called GraviMob, which allows performing dynamic measurements of underwater gravity anomalies. After recalling the interest in underwater gravimetry, we describe the system, the core of which consists of triads of accelerometers rigidly attached to an Autonomous Underwater Vehicle (AUV). The article also presents the mathematical methods for estimating the east, north and vertical components of the local gravity vector. An unscented Kalman filter, integrating AUV position and orientation data, performs estimation of gravity in a frame adapted to its interpretation. To assess its performance, GraviMob was tested in the Mediterranean Sea during the year 2016. A comparison of the surface gravimetric signal previously acquired by the French Navy indicates that the maximum discrepancy between the vertical gravity component and its reference is below 4 mGal. Components of the vertical deflection calculated from GraviMob’s measurements were compared with those calculated from recent gravity field models. While a remarkable agreement was found on the north component, there remains a discrepancy (7 arcsec) on the east component which can be largely reduced by refining the estimation of the orientation of GraviMob’s sensitive axes in the AUV. Full article

An atomic interference gravimeter (AIG) is of great value in underwater aided navigation, but one of the constraints on its accuracy is vibration noise. For this reason, technology must be developed for its vibration isolation. Up to now, three methods have mainly been employed to suppress the vibration noise of an AIG, including passive vibration isolation, active vibration isolation and vibration compensation. This paper presents a study on how vibration noise affects the measurement of an AIG, a review of the research findings regarding the reduction of its vibration, and the prospective development of vibration isolation technology for an AIG. Along with the development of small and movable AIGs, vibration isolation technology will be better adapted to the challenging environment and be strongly resistant to disturbance in the future. Full article

An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1′ × 1′ marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error $N(u,{\sigma }^2)$ with varying mean $u$ and noise variance ${\sigma }^2$ . Thereafter, the matching location of IGNS was simulated. The results show that the changes in $u$ had little effect on the location accuracy. However, an increase in ${\sigma }^2$ resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1–2 mGal accuracy) and the reference map (resolution 1′ × 1′; accuracy 3–8 mGal), location accuracy of IGNS was up to reach ~1.0–3.0 n miles in the South China Sea. Full article

The variation of a marine gravity anomaly reference map is one of the important factors that affect the location accuracy of INS/Gravity integrated navigation systems in underwater navigation. In this study, based on marine gravity anomaly reference maps, new characteristic parameters of the gravity anomaly were constructed. Those characteristic values were calculated for 13 zones (105°–145° E, 0°–40° N) in the Western Pacific area, and simulation experiments of gravity matching-aided navigation were run. The influence of gravity variations on the accuracy of gravity matching-aided navigation was analyzed, and location accuracy of gravity matching in different zones was determined. Studies indicate that the new parameters may better characterize the marine gravity anomaly. Given the precision of current gravimeters and the resolution and accuracy of reference maps, the location accuracy of gravity matching in China’s Western Pacific area is ~1.0–4.0 nautical miles (n miles). In particular, accuracy in regions around the South China Sea and Sulu Sea was the highest, better than 1.5 n miles. The gravity characteristic parameters identified herein and characteristic values calculated in various zones provide a reference for the selection of navigation area and planning of sailing routes under conditions requiring certain navigational accuracy. Full article