# Mathematic Model And Error Analysis of Moving-base Rotating Accelerometer Gravity Gradiometer

## TL;DR

This paper develops comprehensive models for moving-base rotating accelerometer gravity gradiometers, analyzing error propagation and proposing compensation techniques to improve accuracy under turbulent conditions.

## Contribution

It introduces three RAGG models including analytical and simplified models, and demonstrates their effectiveness in error analysis and compensation during turbulence.

## Key findings

- Analytical models achieve noise density of ~0.13 Eo/√Hz under turbulence.
- Error compensation techniques can double the turbulence threshold from 100 mg to 200 mg.
- Models are validated through multifrequency and turbulence simulation experiments.

## Abstract

In moving-base gravity gradiometry, accelerometer mounting errors and mismatch cause a rotating accelerometer gravity gradiometer (RAGG) to besusceptible to its own motion. In this study, we comprehensively consider accelerometer mounting errors, circuit gain mismatch, accelerometer linear scale factors imbalances, accelerometer second-order error coefficients and construct three RAGG models, namely a numerical model, an analytical model, and a simplified analytical model. The analytical model and the simplified analytical model are used to interpret the error propagation mechanism and develop error compensation techniques. A multifrequency gravitational gradient simulation experiment and a dynamic simulation experiment are designed to verify the correctness of the three RAGG models; three turbulence simulation experiments are designed to evaluate the noise floor of the analytical models at different intensity of air turbulence. The mean of air turbulence is in the range of 70 to 230 mg, the noise density of the analytical model is about 0.13 Eo/sqrtHz, and that of the simplified analytical model is in the range of 0.25 to 1.24 Eo/sqrtHz. The noise density of the analytical models is far less than 7 Eo/sqrtHz, which suggests that using the error compensation techniques based on the analytical models, the turbulence threshold of survey flying may be widened from current 100 mg to 200 mg.