FN Archimer Export Format
PT J
TI Development of a Lightweight Inertial Gravimeter for Use on Board an Autonomous Underwater Vehicle: Measurement Principle, System Design and Sea Trial Mission
BT 
AF Verdun, Jérôme
   Roussel, Clement
   Cali, José
   Maia, Marcia
   D’Eu, Jean-François
   Kharbou, Ossama
   Poitou, Charles
   Ammann, Jérôme
   Durand, Frédéric
   Bouhier, Marie-Edith
AS 1:1;2:1;3:1;4:2;5:3;6:1;7:2;8:2;9:1;10:4;
FF 1:;2:;3:;4:;5:;6:;7:;8:;9:;10:PDG-DFO-SM-PRAO;
C1 Laboratoire Géomatique et Foncier (GeF) EA 4630, Conservatoire National des Arts et Métiers (Cnam), HESAM Université, École Supérieure d’Ingénieurs Géomètres Topographes (ESGT), 1 Boulevard Pythagore, 72000 Le Mans, France
   Laboratoire Géosciences Océan (LGO)—UMR6538, Institut Universitaire Européen de la Mer, IUEM—Technopôle Brest Iroise, rue Dumont D’Urville, 29280 Plouzané, France
   Mappem Geophysics, Bâtiment Tech-Iroise, 1 rue des Ateliers, Zone de Mespaol, 29290 Saint-Renan, France
   Service Positionnement, Robotique, Acoustique et Optique (PDG-DFO-SM-PRAO), IFREMER Centre Méditerranée, Zone Portuaire de Brégaillon, CEDEX CS20 330, 83507 La Seyne-sur-Mer, France
C2 CNAM, FRANCE
   CNRS, FRANCE
   MAPPEM GEOPHYSICS, FRANCE
   IFREMER, FRANCE
SI TOULON
SE PDG-DFO-SM-PRAO
UM GEO-OCEAN
IN WOS Ifremer UPR
   WOS Cotutelle UMR
   DOAJ
   copubli-france
IF 5
TC 3
UR https://archimer.ifremer.fr/doc/00773/88521/94236.pdf
LA English
DT Article
CR GRAVIMOB
BO L'Europe
DE ;deep-sea exploration;mobile gravimetry;vector strapdown gravity sensor;underwater gravity anomalies;autonomous underwater vehicle (AUV);Kalman filtering
AB he 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. 
PY 2022
PD JUL
SO Remote Sensing
SN 2072-4292
PU MDPI AG
VL 14
IS 11
UT 000809901100001
DI 10.3390/rs14112513
ID 88521
ER

EF