Advanced Approach for Moving-based INS/GNSS Gravimetry System

Abstract

Earth’s gravity field is an important information in geodesy geophysics and geoscience Over past decades the missions of satellite gravimetry and the high-grade gravimeter have provided global and local gravimetry results respectively Although the satellite gravimetry can efficiently determine the large-scale gravity field the satellite orbit is far away from the ground which makes its low spatial resolution On the other hand the usage of gravimeter can provide accurate gravity field in high spatial resolution but the drawbacks of field work are not only labor- and time-consuming but also easily affected by environmental conditions According to the regional applications or researches of resource exploration and geophysics both of satellite gravimetry and gravimeter cannot meet the requirements in terms of spatial resolution and efficiency Therefore the development of suitable solution is necessary With the improvements in survey techniques and sensor specifications the moving-based gravimetry system developed from integration of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) has been proven to provide gravimetry results with sufficient accuracies According to the advantages including the design and measure with multi-payload free spatial resolution and easy field procedure the moving-based gravimetry system can efficiently obtain gravimetry result in high accuracy and spatial resolution Based on the previous research in data processing low-pass filtering and error compensation the moving-based gravimetry systems by using land-vehicle and Unmanned Aircraft Vehicle (UAV) with advanced approach are developed in this thesis In addition the kinematic and Zero Velocity Update (ZUPT) modes are implemented as measure methods for evaluating the results of gravity disturbance vector For the land-vehicle system the results in kinematic mode show that accuracies are approximately 13 mGal and 3 mGal for the horizontal and vertical components respectively The accuracy in ZUPT mode is evaluated within 3 mGal Furthermore the results from UAV-borne system in kinematic mode show that accuracies are approximately 6–11 mGal and 4 mGal for the horizontal and vertical components respectively The accuracy in ZUPT mode is also within 3 mGal According to the various scenarios and conditions in the experiments the moving-based gravimetry systems combining kinematic and ZUPT modes developed in this thesis are able to provide reliable gravimetry results and with potential for geodetic applications in the future

Date of Award	2019
Original language	English
Supervisor	Kai-Wei Chiang (Supervisor)