Gradiometer based terrain estimation

• US 5,402,340 A
• Filed: 05/02/1994
• Issued: 03/28/1995
• Est. Priority Date: 05/02/1994
• Status: Expired due to Term

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Textron Inc
• Inventors: White, John S., Jircitano, Albert
• Primary Examiner(s): McElheny, Jr., Donald E.
• Application Number:
  US08/236,955
• Time in Patent Office: 330 Days
• Field of Search: 364/420, 364/453, 364/454, 73/382 G
• US Class Current: 702/5
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01V 7/16 specially adapted for use on moving platforms, e.g. ship, aircraft

Abstract

A terrain estimation system and procedure in which prior knowledge of terrain configuration is taken as a starting point in the estimation procedure. The gravity field of the earth is sensed by a gradiometer which measures the gravity gradient as the gradiometer is transported by a moving platform past the earth'"'"'s surface to obtain data of the topology of the earth'"'"'s surface and of the geology of the terrain including subterranean oil and iron deposits. Optimal filter means, operative in response to a statistical model of terrain and residual geology predict values of gravity gradient to be sensed by said gradiometer at successive locations along a path of travel. Comparison is made between measured and predicted values of gravity gradient to update terrain altitude data by nulling a difference between measured values and predicted values of gravity gradient. Terrain surface is represented by the sum of a finite series of shells developed as cross covariance terms in a statistical mathematical model of terrain and residual geology. Each shell has a three-dimensional surface. A point on the surface of a shell is described by three parameters, namely the height of the point above a reference surface, north slope and east slope. A summation of shells of differing spatial frequency, such as a series of approximately one half dozen shells, provides for a smooth surface which represents the terrain at each of many points on the earth'"'"'s surface.

Claims

1. A terrain estimation system comprising

a gravity gradiometer providing measured values of gravity gradient;

a memory storing terrain altitude data along a path to be traveled by said gradiometer;

location means for obtaining current location of said gradiometer during travel of said gradiometer along said path;

optimal filter means, operative in response to a statistical model of terrain and residual geology for calculating predicted values of gravity gradient to be sensed by said gradiometer at successive locations along said path, said terrain and said residual geology being based on data stored in said memory, gradiometer locations along said path being based on data obtained by said location means; and

wherein said filter means is operative further to compare measured and predicted values of gravity gradient to determine the presence of a deviation between measured and predicted values of gravity gradient, a nonzero value of the deviation being representative of an error in earth terrain data or in residual geology data or in gradiometer location data, said filter means being operative to null said deviation by correction of said earth terrain data or said residual geology data or said gradiometer location data.

2. A system according to claim 1 wherein said gradiometer is carried by a vehicle, said system further comprising means for deducting self and centripetal vehicular gravity gradients and normal earth gravity gradients from measured values of gravity gradient to obtain local anomalous gravity gradient of terrain and geology, and wherein said calculating of predicted values of gravity gradient is a calculating of predicted values of anomalous gravity gradient.

3. A system according to claim 1 wherein said statistical model employs a set of cross covariance terms of terrain and residual geology, the cross covariance terms having the form of shells of differing spatial frequency.

4. A system according to claim 3 wherein, in said statistical model, each of said shells has a surface curvature in three dimensions, and wherein a sum of a set of the shells at the different spatial frequencies represents terrain surface data to enable said filter means to null said deviation between measured and predicted values of gravity gradient in real time.

5. A system according to claim 3 wherein, in said statistical model, each of said shells is represented by a grid having a set of grid points arranged in an array of rows and columns.

6. A system according to claim 5 wherein, in said statistical model, each of said grids has at least three rows and three columns of the grid points.

7. A system according to claim 6 wherein, in each of said shells of said statistical model, each of said grid points is constituted by three parameters, a first of said parameters being height of the shell at the grid point above a reference surface, a second of said parameters is a slope of the shell at the grid point measured in a north south vertical plane, and a third of said parameters is a slope of the shell at the grid point measured in an east west vertical plane.

8. A system according to claim 7 wherein, in the respective ones of said shells of said statistical model, the grid points of a shell of higher spatial frequency are located more closely together than the grid points of a shell of lower spatial frequency.

9. A system according to claim 8 wherein, in the shells of said statistical model, the summation of the parameters of grid points positioned on a plurality of said shells and located with common longitude and latitude provides an estimate of height and slope data for terrain at said longitude and said latitude.

10. A system according to claim 1 wherein said gradiometer is carried by a vehicle, said system further comprising means for deducting self and centripetal vehicular gravity gradients and normal earth gravity gradients from measured values of gravity gradient to obtain local anomalous gravity gradient of terrain and geology, and wherein said calculating of predicted values of gravity gradient is a calculating of predicted values of anomalous gravity gradient;

wherein said statistical model employs a set of cross covariance terms of terrain and residual geology, the cross covariance terms have the form of shells having surface curvatures in three dimensions and differing in spatial frequency; and

wherein a sum of a set of the shells at the different spatial frequencies represents terrain surface data, each of said shells is represented by a grid having a set of grid points arranged in an array of rows and columns, and said grid has a central point presenting data for the present location of said vehicle to enable said filter means to null said deviation between measured and predicted values of gravity gradient in real time.

11. A system according to claim 10 wherein, in each of said shells of said statistical model, each of said grid points is constituted by three parameters, a first of said parameters being height of the shell at the grid point above a reference surface, a second of said parameters is a slope of the shell at the grid point measured in a north south vertical plane, and a third of said parameters is a slope of the shell at the grid point measured in an east west vertical plane;

and

the grid points of a shell of higher spatial frequency are located more closely together than the grid points of a shell of lower spatial frequency, and the summation of the parameters of grid points positioned on a plurality of said shells and located with common longitude and latitude provides an estimate of height and slope data for terrain at said longitude and said latitude.

17. A system according to claim 1, wherein said system further comprises means for deducting the terrain component of the anomalous gravity gradient, leaving the geological component, the geological component being representative of geological structure.

12. A method of estimating terrain comprising steps of:

providing a map of known or presumed elevation data of a terrain;

operating a gravity gradiometer to obtain measurements of gravity gradient;

generating a statistical model of the terrain and residual geology and, via optimal filtering, obtaining a set of cross covariance terms from the statistical model;

predicting values of gravity gradient from a sum of the cross covariance terms at a location of said gravity gradiometer relative to said terrain;

comparing predicted and measured values of gravity gradient to obtain an innovation of gravity gradient; and

adjusting a terrain estimate of the elevation data to reduce the innovation.

13. A method according to claim 12 further comprising steps of:

transporting said gravity gradiometer by a vehicle past the terrain;

establishing the location of said gradiometer, said location being employed in said optimal filtering;

describing each of said cross covariance terms in terms of a shell having a surface curvature in three dimensions;

providing the shells at differing spatial frequencies; and

wherein a sum of a set of the shells at the different spatial frequencies represents terrain surface data.

14. A method according to claim 13 further comprising steps of:

subtracting from said gravity gradient measurements of self and centripetal vehicular gravity gradients and normal earth gradients to obtain local anomalous gravity gradient of terrain and geology; and

wherein, in said step of predicting values of gravity gradient from a sum of the cross covariance terms, the predicted values are of anomalous gravity gradient.

15. A method according to claim 14 further comprising steps of representing, in said statistical model, each of said shells by a grid having a set of grid points arranged in an array of rows and columns;

and

in each of said shells, constituting each of said grid points by three parameters, a first of said parameters being height of the shell at the grid point above a reference surface, a second of said parameters is a slope of the shell at the grid point measured in a north south vertical plane, and a third of said parameters is a slope of the shell at the grid point measured in an east west vertical plane.

16. A method according to claim 15 wherein said step of adjusting terrain estimate is accomplished by adjusting the three parameters of each of said grid points of each of said shells.