Development of INS/GNSS UAV-Borne Vector Gravimetry System

作者：Lin Cheng An; Chiang Kai Wei; Kuo Chung Yen^*

来源：IEEE Geoscience and Remote Sensing Letters, 2017, 14(5): 759-763.

DOI：10.1109/LGRS.2017.2679120

• Inertial navigation system and global navigation satellite system (INS/GNSS)
• unmanned aerial vehicle (UAV)
• vector gravimetry
• zero velocity update (ZUPT)

An airborne gravimetry system consisting of an inertial navigation system (INS) and a global navigation satellite system (GNSS) has been proven to perform well in gravity observation. The system is also more cost-or time-effective than satellite missions and terrestrial gravimeters. In this letter, an unmanned aerial vehicle has been developed as a platform to carry the INS/GNSS vector gravimetry system using an unmanned helicopter. In addition to the kinematic mode, the unmanned helicopter can perform the zero velocity update (ZUPT) mode, which is a novel method in the acquisition of gravity. Results show that the accuracies of the horizontal and vertical gravity disturbance from the kinematic mode at crossover points are approximately 6-11 and 4 mGal, respectively, with a 0.5-km resolution. The accuracy of the repeatability in ZUPT mode is evaluated with the accuracies of approximately 2-3 mGal.

• 出版日期2017-5