System and method for gravimetry without use of an inertial reference

A gravimeter for measuring the gravitational field of the Earth without an inertial reference comprises accelerometer pairs disposed on a platform where the sensitive axis of each accelerometer is arranged on the platform to measure plumb gravity. At least one accelerometer pair is spatially configured to define a baseline therebetween. The gravimeter is positioned so that the baseline is maintained parallel to a linear survey path. Each accelerometer outputs a signal representative of the sum total of the accelerations detected, including accelerations due to gravity and kinematic accelerations of the host vehicle and mounting structure. A processor subtracts the accelerometer pair outputs for common-mode rejection determination of a down gravity gradient and combines with a direct plumb gravity measurement to obtain an enhanced gravity data output that is not subject to frequency limits attributed to the performance limitations of inertial reference devices.

FIELD OF THE INVENTION

This application relates to the measurement of gravitational fields using gravimeters.

BACKGROUND OF THE INVENTION

State of the art or conventional gravimeter systems are designed to operate with performance characteristics limited by the accuracy of an inertial reference system such as GPS-derived kinematic acceleration compensation. Such limitation has been accepted for decades. Furthermore, state of the art systems are designed with the goal of performing up to the GPS or inertial reference limit rather than attempting to exceed this limit. Gravimetry solutions that overcome the limitations of GPS or other inertial reference derived kinematic acceleration compensation are desired.

SUMMARY

There is disclosed a system including a gravimeter for measuring the gravitational field of the Earth without an inertial reference. The system comprises a platform having an upper surface on which is disposed at least one pair of accelerometers. The sensitive axis of each accelerometer of the at least one pair of accelerometers is arranged on the platform to measure plumb gravity. A first pair of accelerometers is spatially configured to define a baseline between the accelerometers. During a survey, the gravimeter device is positioned so that the baseline is maintained parallel to a linear survey path. Each accelerometer of the accelerometer pair outputs a signal representative of the sum total of the accelerations detected by the accelerometer. These accelerations include accelerations due to gravity as well as kinematic accelerations of the host vehicle and mounting structure. The signals output by accelerometers are transmitted to a processor for further processing.

The processor may be configured to perform arithmetic operations on the received output signals. For example, the output signal measurement of a first accelerometer in the pair may be subtracted from the output signal measurement of the second accelerometer in the pair. When the direct output measurement values from each accelerometer of the pair are subtracted from each other, accelerations that are experienced equally by both accelerometers in the pair are common-mode rejected from the resulting measurement value. The platform of the gravimeter device provides an environment in which each accelerometer of an accelerometer pair supported on the platform is exposed to the same common plumb gravity.

The gravimeter device is mounted to a host vehicle which carries the gravimeter device during the survey. Kinematic accelerations of the host vehicle are transmitted via the mounting device to the accelerometers of the gravimeter device. The accelerometers in the accelerometer pair share a common mounting device. Therefore, the kinematic accelerations experienced by each accelerometer are effectively the same. When the processor subtracts the output signal measurement values from the two accelerometers in the pair, the common kinematic and plumb gravity acceleration components of the output signals are common-mode rejected in the resulting output value. Once common plumb gravity and kinematic accelerations are removed from the accelerometer outputs, the value remaining represents the difference in plumb gravity anomalies as measured at the locations of the first and second accelerometers in the pair. This difference in the anomaly values may be divided by the distance defined by the baseline between the accelerometers to calculate a forward-down gravity gradient. The horizontal-down gravity gradient, which in one embodiment is represented as the forward-down gradient, is then fused or combined with a value representing plumb gravity based on the accelerometer pair measurements to obtain an enhanced gravity data product. This enhanced gravity data is compensated for kinematic accelerations without the use of an inertial reference device, such as GPS, Doppler velocity logs, or depth sensors. The enhanced gravity data is not subject to frequency limits attributed to the performance limitations of inertial reference devices.

The processor may be further configured to apply a first weighting factor to the horizontal-down gradient and apply a second weighting factor to the direct plumb gravity measurement. The weights are related to estimated frequencies of the error signals, wherein the horizontal or lateral down gravity gradient dominates at higher frequencies (shorter wavelengths) and plumb gravity dominates at lower frequencies (longer wavelengths).

There is also disclosed a method of measuring a gravitational field with a gravimeter device without an inertial reference. The method includes defining a linear survey path, wherein a disk-like platform having an upper surface supports at least one pair of accelerometers positioned and configured to measure plumb gravity. The spatial distance between each accelerometer in the pair defines a baseline. During the survey, the platform is maintained such that the baseline of at least one pair of accelerometers is parallel to the linear survey path. A plumb gravity measurement is obtained from the first accelerometer and the second accelerometer of a pair. The measurements are provided to a processor. The processor performs arithmetic operations on the measured values (e.g. subtraction). More particularly, the first accelerometer plumb gravity measurement is subtracted from the other accelerometer plumb gravity measurement. The subtraction of the measurements causes common plumb gravity and kinematic accelerations to be common-mode rejected out of the resulting measurement. The remaining measurement represents the difference in plumb gravity anomalies measured at each accelerometer in the pair. The difference between the anomalies is divided by the baseline distance between the accelerometers to calculate a horizontal down gravity gradient. The horizontal down gravity gradient represents the change in plumb gravity, due to anomalies occurring at a position of the first accelerometer as compared to a position of the second accelerometer in the pair. The calculated horizontal down gradient is integrated along the survey path by determining the differential gravity anomaly at points along the survey path. The integrated down gradient value for a given position along the survey path is then fused with a direct plumb gravity measurement based on the accelerometer pair outputs to calculate an enhanced plumb gravity data product.

DETAILED DESCRIPTION

Referring toFIG. 1, there is shown a spectral density graph100containing a series of curves102,104, and106which broadly characterize spectral density and gravimetry errors for gimbal mount systems. Gimbal mount systems attach the gravimeter to a vehicle. Imperfections in mount platform alignment contribute to motion which cross couples into the output of the gravimeter device. This type of interference or noise attributable to the mount tends to dominate at lower frequencies. InFIG. 1, the platform misalignment errors are shown as curve102. This curve102closely tracks the overall gravimeter error shown as curve108in the lower frequency region110. Additionally, accelerometers used in the gravimeter device contribute an internal composite noise component shown as curve106. Curve106dominates the overall error correction limit at intermediate frequencies, as shown in region120ofFIG. 1. The curve representing overall errors108is tracked by the accelerometer composite errors106in the intermediate region120. In higher frequency ranges, such as those in region130ofFIG. 1, overall gravimeter errors108are dominated by kinematic accelerations caused by the relative motion of the host vehicle. For example, in an airplane-based gravimeter, the aircraft carrying the gravimeter device may experience motion laterally in addition to variations in altitude due to turbulence or pilot navigation. These motions result in forces which are applied to the accelerometers. The accelerometers output a signal which represents the value of the sum total of all forces of acceleration including forces related to gravitational accelerations and forces created by the kinematic accelerations of the host vehicle. These kinematic accelerations cannot be separated from the gravitational accelerations in the accelerometer output as explained by Einstein's Equivalence Principle which states that the inertial mass is equivalent to gravitational mass. These kinematic acceleration components are not separated (e.g. not-identifiable) in the accelerometer output.

In conventional error compensation techniques, an inertial reference is used to estimate the kinematic accelerations and to subtract the estimated kinematic accelerations from the direct accelerometer outputs. However, inertial reference devices exhibit limitations in estimating the kinematic accelerations, thereby resulting in residual errors as indicated by curve104. These residual inertial errors dominate and limit the overall gravimeter errors108in the higher frequency range indicated by range130. As may be seen, as frequency increases, inertial residual errors increase rapidly producing a frequency limit over which inertial references cannot provide further compensation of the gravimeter output for kinematic acceleration.

The overall gravimeter errors108may be compensated for by attempting to control the overall gravimeter errors108by shifting the error correction limits defined by curves102,104and106. However, there is diminished return in attempting to effect changes to the curve102representing platform alignment errors. This is because only minor, incremental, improvements to platform alignment may be effected, Thus, the potential resultant gains are costly in terms of expense and system complexity. Furthermore, attempts to control platform alignment may further result in undesirable increases in size and weight. Considering the associated improvement in data quality is likewise only incremental and limited to relatively long wavelengths, the benefits derived from trying to manage curve102is limited. In contrast, there is a significant potential in effecting changes to the curve104, representing the kinematic acceleration, for example by sliding curve104to a higher frequency (i.e. toward the right with respect toFIG. 1), or removing it altogether.

Performance of state of the art gravimeter systems approaches the bounding curve104, or so-called “GPS limit” (e.g. for airborne systems) or similar hardware limits applied to other devices (e.g. Doppler velocity logs or depth sensors for underwater systems). These limits are particularly relevant for frequencies at the high end (e.g. up to roughly 0.05 Hz depending on the amount of filtering applied). With respect to GPS systems, performance slightly better than the GPS limit at lower frequencies has been suggested, near 0.01 Hz. However, this is merely an artifact of actual GPS performance slightly exceeding modeled theoretical limits on several surveys.

The system and method of the present disclosure does not rely on inertial reference data to remove kinematic motion sensed by the gravimeter at relatively higher frequencies. Thus, curve104or the kinematic acceleration compensation limit does not apply. By way of non-limiting example, the gravimeter system of the present disclosure serves to eliminate the need for inertial reference measurements in order to compensate for kinematic acceleration. Paired accelerometers whose outputs are subtracted provides common mode cancellation of kinematic accelerations. In principle, kinematic acceleration transmitted to an object due to a base disturbance is determined by its connection to that base. In contrast, the object's acceleration due to gravity is determined by its mass. Deliberately connecting two objects independently to a base located in a substantially common gravity field allows for distinguishing gravitational from kinematic accelerations. In certain embodiments, the gravimeter system of the present disclosure eliminates the need for inertial references in underwater systems. Inertial references, such as depth sensors and Doppler velocity logs may be used in underwater applications. Previously, limitations in these solutions have imposed a limit on the data quality achievable by the gravimeter, particularly at higher frequencies.

Referring now toFIGS. 2A and 2Bthere are shown a perspective and plan view, respectively, of a gravimeter device according to an embodiment of the disclosure. The gravimeter device200includes a platform210having a planar upper surface210u. A plurality of accelerometers220are attached to the platform210on the planar upper surface210u. Each accelerometer220contains a proof mass which is influenced by forces due to accelerations affecting the accelerometer. The resulting movement of the proof mass is converted to an electronic signal representative of the sum total of the forces to which the accelerometer is subjected. The positioning of the proof mass within the housing of accelerometer220defines a sensitive axis of the accelerometer. When the accelerometer is positioned with its sensitive axis aligned with the direction of acceleration due to gravity, the accelerometer220is configured to produce an output signal representative of plumb gravity. The accelerometer output signal is transmitted via transmission lines included as part of the control circuitry in the accelerometer220. The accelerometer transmission lines may be connected via external wiring to other circuitry components, including off accelerometer processors or memory for downstream processing.

The planar upper surface210u, is configured to receive a plurality of accelerometers2201,2202,2203, and2204. While gravimeter device200ofFIGS. 2A and 2Bshows four accelerometers2201-2004, other numbers of accelerometers may be implemented. The accelerometers are arranged in pairs (e.g.2201and2202;2203and2204) to provide differential processing of the accelerometer output signals as explained in greater detail below. The platform210and attached accelerometers220are arranged within a host vehicle such that the sensitive axes of the accelerometers220are aligned with the direction of plumb gravity indicated by force vectors2301,2302,2303, and2304inFIG. 2A.

Accelerometers220are arranged in pairs with each accelerometer in the accelerometer pair separated by a nominal distance defining a rectilinear baseline. For example, accelerometer2201and accelerometer2202are arranged on platform210defining a baseline221between accelerometer2201and accelerometer2202. Accelerometer2203and accelerometer2204are arranged on platform210defining a baseline223between accelerometer2203and accelerometer2204.

In operation, gravimeter device200is mounted in a host vehicle. The host vehicle is operated and carries the gravimeter device200while the host vehicle travels along a survey line240. During surveys, many passes may be made over an area of interest, defining multiple survey lines2401-240n. Each survey line2401-240nis substantially parallel to each other survey line240. Accordingly, each survey line240is separated from a neighboring survey line240by some nominal distance245. The type of survey being performed may determine the nominal distance245. For example, in a regional survey, the nominal distance245between survey lines may exceed 500 meters. In a detailed survey, the nominal distance245may be maintained at less than 500 meters.

Gravimeter device200is attached to the host vehicle by a mounting device. The mounting device is configured to maintain the gravimeter device200at a trim level during transport. The platform210and attached accelerometers220are arranged relative to the host vehicle such that the rectilinear baseline221of at least one pair of accelerometers is arranged and maintained parallel to the survey line240.

Referring toFIG. 2B, the accelerometer pair containing accelerometer2201and accelerometer2202defines rectilinear baseline221. Baseline221is aligned with survey line2402. As the host vehicle moves along survey line2402, accelerometers2201and2202are subject to accelerations due to gravity as well as kinematic accelerations resulting from movement of the host vehicle. The accelerometers2201,2202output signals that are representative of the sum total of forces created by accelerations experienced by the accelerometers2201,2202including acceleration due to plumb gravity and other non-gravity components of acceleration. Due to the proximity of the accelerometers in the accelerometer pair and their common attachment to platform210, each accelerometer220in the accelerometer pair operates in a substantially common gravity field via common platform210. Similarly, since kinematic accelerations are applied to the accelerometers via their common connection to the platform210, each accelerometer is exposed to a common source (e.g. the platform) of kinematic accelerations. Thus, the output of each accelerometer is a signal representative of the sum total of the common gravitational field and common kinematic accelerations experienced by both accelerometers in the pair. Each individual accelerometer additionally measures gravitational anomalies due to slight gravitational differences experienced by each of the paired accelerometers. These anomalies are included in the accelerometer's output signal. The gravity anomalies result due to environmental effects affecting gravity at the positions of the two accelerometers. The signals of each accelerometer in the pair may be subtracted from one another so that the common plumb gravity components and the common kinematic acceleration components are common-mode rejected out of the resulting subtracted value. What remains after the common plumb gravity and common kinematic forces are removed is the difference in the gravitational anomalies attributable to the difference in the Earth's gravitational fields at each accelerometer's location in the accelerometer pair. Subtracting the output signals compensates for errors due to kinematic accelerations irrespective of the frequency at which the kinematic accelerations occur. The limitations of prior art inertial reference compensation techniques due to their inability to detect accelerations occurring at frequencies above the inertial reference compensation limit is therefore substantially reduced or eliminated.

Still referring toFIGS. 2A and 2B, the host vehicle (not shown) carrying gravimeter device200travels along survey line240. As the host vehicle travels along the survey line, accelerometer pair2201,2202is subjected to forces due to accelerations applied by gravity and by non-gravity accelerations, for example kinematic accelerations resulting from movement of the host vehicle. Accelerometers22012202each produce an output signal representative of the sum total of the accelerations experienced by the accelerometer. The output signals are transmitted to a processing device which receives and processes the signals to generate a compensated output. In one embodiment the processing device performs arithmetic operation (subtraction) on the signals from each accelerometer in the accelerometer pair resulting in a signal representative of a gravity anomaly gradient measured across the baseline distance between the paired accelerometers. The gravity anomaly gradient essentially contains only the difference between gravitational anomalies measured at locations of each accelerometer in the accelerometer pair. Each accelerometer location is separated from the other accelerometer spatially by baseline distance221. The determined difference in gravitational anomalies measured at each accelerometer location is divided by the rectilinear baseline distance to calculate a horizontal or forward-down gravity gradient. The horizontal-down gravity gradient may be determined at points along the length of the survey line240and used by the processor to generate a value representing a horizontal-down gravity gradient measurement at points along the survey line240.

A direct plumb gravity measurement is determined by taking the first and second accelerometer outputs and performing error correction to generate compensated accelerometer outputs. These error compensated output pairs are further processed (e.g. averaged) to generate a direct plumb gravity measurement representative of the overall plumb gravity experienced by the gravimeter device.

The generated horizontal-down gradient may be fused or combined with the direct plumb gravity measurement in order to obtain an enhanced or optimized direct plumb gravity measurement which thereby is compensated for accelerations due to non-gravity components of acceleration which appear as noise in the accelerometer output signal.

In one embodiment, a compensated plumb gravity measurement of each accelerometer220positioned on base platform210may be taken by adjusting the output signals of the accelerometers to remove identifiable non-gravity components of the output signals. The adjusted signals may be averaged to provide an overall direct plumb gravity measurement. The horizontal-down gravity gradient component may then be fused or combined with the direct plumb gravity measurement to provide an enhanced overall plumb gravity measurement at each point along the survey line240. The enhanced plumb gravity measurement is compensated for identifiable and non-identifiable components of accelerations present in the accelerometer output signals. Still referring toFIGS. 2A and 2B, a second pair of accelerometers2203,2204may be positioned such that the rectilinear baseline223defined by the pair of accelerometers2203,2204is orthogonal to the rectilinear baseline221defined by accelerometers2201,2202. Each accelerometer2203,2204outputs a signal used to calculate the gravity anomaly gradient across baseline223. It is to be understood that accelerometers2201and2202measure the horizontal-down gravity gradient along the survey line (i.e. a forward-down gravity gradient), while accelerometers2203and2204measure the horizontal-down gravity gradient orthogonal to the survey line (i.e. a cross-track-down gravity gradient). The forward-down gravity gradients may be considered along with the calculated cross-track-down gravity gradients and fused or combined with a direct plumb gravity measurement to provide an enhanced plumb gravity product that has better correction than traditional inertial reference corrections. Additionally, the enhanced plumb gravity data is obtained without the need for an inertial reference because the kinematic accelerations included in the accelerometer output signals are removed when the output signals of the accelerometers in an accelerometer pair are subtracted from one another. Without the need for an inertial reference, calculating the enhanced plumb gravity data is not subject to the limitations imposed by the inertial reference measuring device.

As explained above, the gravimeter200ofFIGS. 2A and 2Bmeasures two types of plumb gravity. The first type is called direct plumb gravity and is measured along the sensitive axis of each accelerometer. The second type of plumb gravity is the horizontal-down gravity gradient for each point along the survey line240. The horizontal-down gravity gradient is measured as the difference in plumb gravity between accelerometers arranged in an accelerometer pair along a baseline that is aligned with respect to the survey line240. The two plumb gravity measurement types may be fused or combined to provide enhanced scalar gravity data which includes corrections for noise sources associated with shorter than typical wavelengths (e.g. higher frequencies) using the forward-down gradient measurements (e.g. along the survey line). These corrections were unavailable in conventional compensation techniques due to the inertial reference or GPS limit described above with regard toFIG. 1. Enhanced determination of gravity measurements between survey lines may be further provided by the lateral cross-track-down gravity gradient measurements (e.g. orthogonal to the survey line) which provide information relating to the difference in cross-track-down gravity anomalies between adjacent parallel survey lines. The cross-track-down gravity gradients may be calculated at corresponding points on adjacent survey paths and used to estimate the plumb gravity at points between the adjacent survey paths.

Referring now toFIGS. 2C and 2D(in conjunction withFIGS. 2A and 2B), the fusing of the direct plumb gravity measurement264with horizontal-down gravity gradient256measured between accelerometers in an accelerometer pair will now be described. A first gravity measurand or observable (denoted G(1)(f) in Equation (1)) represents the averaged262output of the two accelerometers compensated260for kinematic acceleration and other typical operational and/or accelerator error mechanisms. As discussed hereinabove, compensation for kinematic acceleration loses its integrity as frequency increases. Accordingly, the compensated gravity output G(1)(f) (e.g. direct plumb gravity measurement264) contains unidentifiable non-gravity components which contribute noise to the gravity measurement due to these limitations. The output G(1)(f) is described spectrally according to Equation (1):
G(1)(f)=G(f)+Va(f)+Vυ(f)  Equation (1)where:G(f) is the actual but unknown gravity anomaly along the survey path (the result sought by the survey);Va(f) is the remaining or residual kinematic acceleration, i.e. that portion which is not removed by applied compensation or possible erroneous compensation added by the overall compensation process; andVυ(f) is the conglomeration of remaining errors attributable to specific accelerometer higher-order effects, signal conditioning electronics conditioning noise, slight misalignments of the platform under motion, and the like.

A second gravity measurand or observable, (denoted G(2)(f) in Equation (2)), represents the horizontal or forward-down gravity gradient256obtained by differencing250the outputs of two accelerometers2201,2202in an associated accelerometer pair along a baseline running parallel to the survey line and then dividing254by the separation distance between them. The computed output256(G(2)(f)) is described according to:
G(2)(f)=H(f)G(f)+Vg(f)  Equation (2)where:G(f) is the actual but unknown gravity anomaly along the survey path (the result sought by the survey);H(f) is a forward spatial differentiation operator (e.g. the product H(f)G(f) is the forward-down gradient); andVg(f) is the residual gradiometer error (e.g. after any typical compensations are applied for effects attributable to specific error mechanisms on the gradient output.

The direct plumb gravity measurement264and forward-down gradient256observables given by Equations 1 and 2 above are linearly combined266using determinable frequency-dependent coefficients or weighting factors (denoted A1(f) and A2(f)) to form a processed or blended observable (Ĝ(f)) according to:
Ĝ(f)=A1(f)G(1)(f)+A2(f)G(2)(f)  Equation (3)

Weighting factors A1and A2may be applied to the direct plum gravity measurement264(G(1)) and the horizontal-down gravity gradient256measurement (G(2)), respectively. Weighting factors A1and A2are frequency dependent. For example, at relatively low frequencies, where kinematic compensation provides reliable error correction, weighting factor A1may be configured to asymptotically approach unity as the frequency of the error signals decreases. Similarly, at relatively high frequencies, where compensation techniques for kinematic accelerations are less reliable, weighting factor A2may be configured to asymptotically approach unity as the frequency of the error signals increase. Increasing weighting factor A2produces an enhanced plumb gravity measurement268that is increasingly influenced by the measurand associated with the horizontal-down gravity gradient measurement and has reduced influence from the direct plum gravity measurement. At intermediate frequencies weighting factors A1and A2may be configured to provide blending of the direct plumb gravity measurement264and the horizontal-down gravity gradient256measurement. The intermediate frequency band defines a cross-over region where blending of the direct plumb gravity measurement264and horizontal-down gravity gradient256occurs. A cross-over point exists where weighting factors A1and A2apply substantially equal weight to the direct plumb gravity measurement and the horizontal-down gravity gradient measurement. As weighting factor A1approaches unity at lower frequencies to increase the influence of the first measurand (e.g. direct plumb gravity measurement) and weighting factor A2approaches unity at higher frequencies approaching the inertial reference limit to increase the influence the second measurand (e.g. horizontal-down gravity gradient measurement), the resulting blended measurement value provides an improved or enhanced measure of plumb gravity across the spectral region of interest.

FIG. 2Dshows an analogous process for the accelerometer pair2203,2204to provide a cross-track-down gravity gradient258. The cross-track-down gravity gradient258may be used to infer gravity measurements at points between parallel survey lines240. Where the processing steps betweenFIGS. 2C and 2Dare analogous, the elements inFIG. 2Dare denoted with similar reference numerals denoted as “prime”. For example, the output signal from accelerometer2204is subtracted250′ from the output signal of accelerometer2203according to the process shown inFIG. 2D.

The enhanced plumb gravity data268generated from the direct plumb gravity measurement264and the forward-down gravity gradient256inFIG. 2C, produces a plumb gravity measurement including short wavelength information for gravity measurements along the travel path of the host vehicle. Similarly, the enhanced plumb gravity data268′ generated from the direct plumb gravity measurement264′ and the cross-track-down gravity gradient258shown inFIG. 2Dprovides enhanced plumb gravity information which may be used to infill gravity measurements representative of points or locations that fall between adjacent survey lines. By considering corresponding points along adjacent survey lines and using the computed enhanced gravity data at the corresponding points along with prior geographic knowledge of the region of interest, gravity measurements for location points falling between the adjacent survey lines may be estimated. The estimated gravity measurements benefit from the fact that the cross-track-down gradient information contained in the enhanced plumb gravity product includes information relating to the short wavelength information contained in the accelerometer output signals.

To this end, the difference between the blended observable and the actual but unknown plumb gravity is defined, (denoted by symbol {tilde over (G)}) according to:
{tilde over (G)}(f)=Ĝ(f)−G(f)=A1(f)G(1)(f)+A2(f)G(2)(f)−G(f)  Equation (4)

It should be noted that by definition, if this difference is zero, then the blended observable equals the sought plumb gravity measurement. The observables calculated in Equation 1 and Equation 2 may be rearranged such that the difference between the blended observable and the actual unknown plumb gravity may be determined according to:
{tilde over (G)}(f)=(A1(f)+A2(f)H(f)−1)G(f)+A1(f)(Va(f)+Vυ(f))+A2(f)Vg(f)  Equation (5)

Rough spectral characterization of the plumb gravity anomaly, G, for an area of interest is typically readily available. For example, gravity anomaly maps are available from the U.S. Geological Survey, or gravity anomaly maps provided by the Gravity Recovery and Climate Experiment (GRACE) conducted by NASA may be consulted. Spectral characterization of residual kinematic accelerations (e.g. errors in the GPS-derived accelerations) is well-known. Spectral characterization of residual gravity and gradient instrument errors is available per the instrument manufacturer's analyses and factory acceptance test data which are available from the manufacturer. According to these characterizations, coefficients A1(f) and A2(f) are generated by computing and minimizing the magnitude of the difference given by Equation (5) over the full spectral range in which the plumb gravity is sought. Once A1(f) and A2(f) are known they are used to filter the two observables to yield the blended data according to Equation (3). These coefficients roll off, (i.e., decrease in value), at high and low frequencies, respectively. The precise spectral profile of each coefficient and their crossover in the mid-frequency range depend on characterizations input to determine the coefficients.

The enhanced gravity data obtained by combining the direct plumb gravity measurement with either the forward-down gravity gradient (FIG. 2C) or the cross-track-down gravity gradient (FIG. 2D), represents a high-resolution scalar gravity measurement that may be used to produce accurate maps of the gravitational field in the region of interest (e.g. in or about the surveyed region). The enhanced gravity data takes into account the short wavelength information that is missing in data provided by conventional compensation techniques using an inertial reference. The enhanced gravity measurements may be used as inputs to a processor to generate models of the gravitational field through techniques such as geophysical inversion.

Geophysical inversion is the estimation of physical properties in the area of interest based on observed or measured data. For geophysical inversion, an initial model based on basic prior knowledge of the region is constructed. Based on the initial model, a computer processor generates predicted data is generated representative of measurements that would be expected in the region of interest based on the initial model. The actual measured data is then compared to the predicted data and a similarity function is performed to determine how close the measured data comes to the predicted data. While the predicted data differs from the measured data by some quantitative threshold, the model is revised and updated and new predicted data is generated. The comparison of the predicted data to the measured data and the updating of the model is iteratively repeated until the comparison indicates the similarity between the measured data and the predicted data from the updated model falls below the threshold. Using the enhanced gravity data described herein, the resulting models are more accurate and provide higher resolution than previously available data due to the recognition of shorter wavelength signal information produced in the accelerometer output signals.

The accelerometers providing the measurements above perform optimally assuming the accelerometers and the supporting assembly are maintained level throughout the survey. According to an embodiment, a mounting apparatus is provided for maintaining the accelerators at trim level throughout a survey.

FIG. 3is block diagram of a mounting apparatus300for mounting the gravimeter device ofFIG. 2to a survey vehicle. Host vehicles carrying gravimeter instruments during a survey exhibit translational motion disturbances that can be accommodated by a suspension apparatus such as the apparatus300shown inFIG. 3.

The mounting apparatus300includes a base330which is fixedly attached to a host vehicle (not shown). The mounting apparatus includes a stationary linear stage320which supports a rotational stage310. The linear stage320includes base330and isolates the linear stage320from movement of the base330through passive isolation interface325. For example, viscous air springs may be used to provide isolation from disturbances such as vibration transmitted from the host vehicle. This prevents the disturbances from affecting the rotational stage310which supports the gravimeter device and its associated accelerometers.

The rotational stage310provides a rotational interface with the linear stage320. The rotational interface provides rotational freedom relative to the linear stage320. The linear stage320is substantially fixed with respect to the instruments hosted as part of payload200. The payload200is moveable by virtue of its coupling to rotational stage310. Payload200as shown in the embodiment ofFIG. 3is a representation of the disk-like platform210and accelerometers220shown inFIG. 2, by way of example. Payload200is rigidly attached to rotational stage310and may be maintained level with respect to the Earth by adjusting the position of the rotational stage310with respect to the host vehicle via the linear stage320. Instruments contained in payload200may receive and transmit power and data signals via an umbilical communications link350to base330. Power and control data information may be transmitted from controllers (not shown) outside of apparatus300and transmitted via umbilical link350to instruments in payload200. Controllers may include computers and related processors. One or more processors may be configured to receive executable instructions from a memory. The one or more processors execute the instructions to process data and generate signals relating to measuring gravitational fields in a gravimeter without an inertial reference. Likewise, instruments in payload200may include sensors and related circuitry which sense a measured quantity, such as gravity or acceleration, and produce signals indicative of the sensed quantity. The produced signals are communicated via umbilical link350through base330attached to the host vehicle. From base330, the signals may be communicated through communication paths, such as communication interfaces or communication buses. The communication interfaces or buses may be in communication with processors which receive the signals and execute instructions for processing the data contained in the signals.

The interface between the rotational stage310and the linear stage320may be provided as a non-contacting bearing360. Implementation of a non-contacting bearing360reduces friction and further isolates the rotational stage310from possible errors introduced from the operation of the host vehicle. According to an embodiment, the non-contacting bearing may be implemented as a spherical air bearing as described in greater detail below with respect toFIGS. 4 and 5. A mechanical brake or coupling315may be provided to fix the position of the rotational stage310to the linear stage320. In one embodiment, a compressed gas supply340is coupled to the linear stage320via pneumatic line341. This provides the linear stage320with a supply of gas under pressure. The gas may be air or another suitable gas sufficient to provide a gas cushion which supports the rotational stage310in a non-contacting manner. The payload200, rotational stage310, linear stage320and base330may be housed in an enclosure305which isolates the assembly from further outside interferences. The enclosure305may have a vent345defined through a wall of the enclosure305for maintaining ambient pressure (e.g. atmospheric pressure or depth pressure) to the interior volume of enclosure305.

Referring now toFIG. 4, a perspective view of a linear stage320having a base330for attaching a gravimeter instrument to a host vehicle is shown. Base330is adapted to be fixedly attached to a host vehicle (not shown). By way of example, the host vehicle may be a small fixed wing aircraft or helicopter for airborne gravimeter surveys, or an autonomous underwater vehicle (AUV) for underwater or ocean bottom surveys. Base330includes a number of support members415which support a portion of the spherical air bearing supported by the linear stage320(FIG. 3). While three support members415are shown inFIG. 4, other numbers of support members415may be used. Each support member415is coupled to base330and supports a passive isolation interface325that provides an adjustable suspension between the gravimeter instrument mounted on the spherical air bearing and the host vehicle. According to the embodiment shown inFIG. 4, interface325comprises an auxiliary air chamber430which is connected to an air spring440via a coupler which includes an adjustable orifice435.

The linear stage320is coupled to the air springs440by arm members445which extend from passive isolation interfaces325and air springs440to a central point where the arm members445converge to support a spherical cup450embodying a lower half of the spherical air bearing. A source of gas under pressure (340, shown inFIG. 3) is provided to apertures extending through the concave surface defined by the spherical cup450.

Base330may be fixedly attached (e.g., bolted) to the cabin floor or frame of a host vehicle or survey platform. Mounting base330extends upward via support members415which support the linear stage320via air springs440. By way of non-limiting example, helical coil springs or viscoelastic dampers may also be used to provide a passive suspension system. In an embodiment, triaxial accelerometers (not shown) are affixed to the linear stage320. Active suspension components in the form of mechanical actuators (e.g. stingers) cancel specific, discrete, tonal disturbances that would otherwise be transmitted through the mounting base330and springs440to the linear stage320.

The linear stage320contains a spherical cup450that defines the lower half of the spherical air bearing. The spherical cup450supports the upper half of the air bearing, comprising the spherical bearing of the rotational stage which contains a spherical surface which mates with the concave spherical surface of the spherical cup450. The upper half of the spherical air bearing is supported in a non-contacting manner atop the spherical cup450by a thin cushion of air. The air is provided as pressurized air introduced to the concave surface of the spherical cup450through apertures460(shown inFIG. 5) These apertures provide a passage through the cross sectional extent of the concave surface of spherical cup450. The upper half of the spherical air bearing includes a convex spherical portion that engages the spherical cup45. The convex spherical portion defines part of a first theoretical sphere whose surface includes the convex surface of the spherical portion of the upper half of the spherical air bearing. Spherical cup450, likewise has a concave spherical portion that defines a second theoretical sphere whose surface includes the concave surface of the spherical cup450. The first theoretical sphere corresponding to the upper half of the spherical bearing is arranged to be concentric with the second theoretical sphere corresponding the lower half of the spherical bearing (e.g. spherical cup450) when the upper half of the spherical air bearing engages with the lower half of the bearing. Accordingly, the instrument and platform comprise a symmetric and concentric arrangement wherein the linear stage320, rotational stage, inertial sensors, actuators, enclosure and passive suspension components share a common center of mass, stiffness, loading and bearing rotation. The gravity measured by the gravimeter instrument is calculated from this common center point. In an embodiment, linear stage320may include calibration lasers or other sensors used to determine the relative position and/or alignment of the rotational stage310to the linear stage320.

The rotational stage of the spherical air bearing may be rotated about the common center point with little or no friction due to the fact that the rotational stage is supported on a thin cushion of air without physically contacting the spherical cup450. The spherical air bearing thereby provides three axes of limited, but sufficient rotation to the rotational stage. This replaces conventional solutions using a series of nested gimbals and associated bearings and races, flex capsules and slip rings which introduce additional disturbance signals due to their physical contact between the mount and the gravimeter instruments.

In operation, linear stage320includes base330which is rigidly attached to the host vehicle (not shown, such as an aircraft or UAV). Rotational stage310is positioned such that the spherical bearing member510associated with the rotational stage310is engaged in spherical cup450associated with linear stage320. Air or other suitable gas or fluid is introduced between the spherical bearing member510and the spherical cup450to provide a thin cushion that supports the spherical bearing member510and rotational stage310while decoupling the rotational stage310from the linear stage320and base330.

FIG. 5is a perspective, partially exploded view of a spherical air bearing supporting the gravimeter instrument ofFIG. 2. According to the non-limiting embodiment shown inFIG. 5, the rotational stage310is defined by a substantially disk-like platform210supporting accelerometers indicated generally as220. Additional circuitry or components including inertial components such as gyroscopes and/or magnetohydrodynamic sensors (MHDs) used for leveling and orienting the rotational stage310may also be housed thereon. Other supporting electronics, for example, processors which process the outputs of accelerometers220output signals, power data storage and actuators may also be included as part of rotational stage310. These additional electronics may be disposed on disk-like platform210. A central, substantially spherical bearing member510defines the rotational stage's center of mass. The spherical bearing510provides structural support for the disk-like platform210.

Spherical bearing510is coupled to a plurality of spherical actuators (not shown). Spherical actuators provide rotational adjustment of rotational stage310relative to the linear stage320. The spherical actuators actively align or orient the rotational stage301to a desired (e.g. target) survey frame and are positioned physically or functionally between the linear stage and rotational stage310. According to one embodiment of the disclosure, alignment between the rotational stage310and the linear stage320may be provided in conjunction with spherical actuators by configuring one or more calibration lasers (not shown) coupled to the linear stage320. The calibration lasers are configured and aligned so as to project a light beam onto one or more reflectors attached to the rotational stage310. The calibration lasers may include a receptor (e.g. photo detector) configured to receive the reflected light beam. A processor operatively coupled thereto receives signals from the calibration laser503and determines the relative alignment between the rotational stage310and the linear stage320. Alignment between the rotational stage310and the linear stage320may then be adjusted by the processor by transmitting a signal to the spherical actuators to adjust the alignment of the rotational stage310.

FIG. 6is a block diagram of a method for measuring a gravitational field using a gravimeter device without the use of an inertial reference device. At block610, at least one pair of accelerometers are placed on a common platform surface. Each accelerometer in the at least one accelerometer pair is displaced from the other accelerometer in the pair by a nominal distance that defines a baseline between the accelerometers. In operation, the gravimeter device may be oriented with respect to a survey line or path, wherein the baseline between the accelerometers is aligned with the survey line. The at least one pair of accelerometers are subjected to forces due to the sum total of accelerations applied to the accelerometers during the survey. The output of each accelerometer is a measurement of acceleration which includes components of direct plumb gravity and non-gravity components such as kinematic accelerations transferred to the accelerometer from the host vehicle through the base platform on which the gravimeter device is attached. The output signals from each accelerometer of the at least one pair of accelerometers is received by a processing device as shown in block620. The processing device may be a general or special purpose computer including a processor and/or memory for receiving measurements of acceleration output from the accelerometers in the at least one accelerometer pair and calculating a horizontal down gravity gradient compensated for kinematic acceleration. The measure of acceleration of one of the accelerometers in the pair is subtracted from the acceleration measurement of the other accelerometer in the pair to produce a horizontal down gravity gradient as indicated by block630. The calculated horizontal down gravity gradient is then fused with a direct plumb gravity reading of the accelerometers to produce an enhanced plumb gravity measurement640which is compensated for kinematic accelerations in the host vehicle without being subject to the frequency limits associated with inertial reference devices for providing estimates of kinematic acceleration.

FIG. 7is a block diagram of a computer system including a computer processor configured for determining a compensated gravity measurement without the use of an inertial reference according to an embodiment of the disclosure. Platform210has an upper surface which is depicted as circular inFIG. 7. At least one accelerometer220is placed on the upper surface of platform210. By way of non-limiting example, accelerometers220may be provided and arranged in pairs whereby each pair of accelerometers220defines a baseline between each accelerometer220in each accelerometer pair. Each accelerometer220measures a specific force which includes acceleration components relating to acceleration due to gravity as well as kinematic acceleration due to accelerations relating to motion of the host vehicle. The information relating to the force measurement is carried from the accelerometer220by signal line721. Signal lines721from all accelerometers220are in turn transmitted via cable730to computer710. Computer710may be located on a surface of the platform210, or may be located off-platform and connected to accelerometers220via cable730, which may be configured as an umbilical cable.

Computer710includes a processor711. Processor711is in communication with memory713and communication port715by communication bus717. Computer710may receive information signals representative of force measurements captured by accelerometers720via communication cable730. The force measurement values may be stored in memory713or communicated directly to processor711. Processor711may be a general purpose computer processor which, when provided appropriate instructions, is configured to process the force measurement values and determine a compensated gravity measurement from platform210. The force measurements from accelerometers220may be taken over the longitudinal distance of a survey line, or may be measured along a cross-track baseline. Compensated gravity measurements are calculated defining gravity gradients along the survey line which are fused with the direct plumb gravity acceleration components of the accelerometers220to provide an improved gravity measurement value compensated for kinematic accelerations of the host vehicle.

Memory713may store the accelerometer force measurement values received from accelerometers220. The measurements may later be retrieved by processor711via communication bus717for processing. Memory713may also include software instructions which are executable by processor711. The instructions may be retrieved from memory713and communicated to processor711via communications bus717. The instructions are executed by processor711and cause the processor711to perform calculations which process the accelerometer220data. The processing includes compensation calculations which remove the kinematic acceleration components which are detected by accelerometers220as a result of the accelerations caused by motion of the host vehicle.