In order to reduce the influence of vertical motion on horizontal tensor gravity gradient measurement,a real-time compensation method for vertical motion error of horizontal tensor gravity gradiometer is proposed.Firstly,the mechanism of gravity gradient dynamic measurement error caused by carrier vertical motion is analyzed,and the regression equation of the integrated installation error angle is established.Secondly,the forgetting factor is introduced into the recursive formula to improve the tracking speed of the state estimation.Thirdly,in view of the problem that the volume measurement is easily disturbed by the carrier motion,the integrated installation error angle is estimated by the Sage-Husa adaptive filtering method to adapt the different magnitudes of dynamic interference in real-time.Finally,the vertical motion measurement error of gravity gradient is compensated by the estimated integrated installation error angle in real time.The results of shipboard experimental data processing show that compared with the traditional compensation method,the proposed method can improve the accuracy of gravity gradient internal compliance from 30E@1km to 15E@1km.
gravity gradiometererror compensationrecursive least squaresforgetting factor
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