Provided is an aircraft 10 which has been configured for conducting airborne gravimetry surveys, comprising a gravimeter 14, a global navigation satellite system (GNSS) receiver 18 arranged in signal communication with the gravimeter 14, as well as a Doppler lidar system 20 arranged in signal communication with the gravimeter 14. The lidar system 20 is configured to determine a vertical velocity of the aircraft 10 at a predetermined time, with a time signal from the GNSS receiver 18 used to operatively synchronise both the gravimeter 14 and lidar system 20 measurements. In this manner, a gravitational acceleration measurement of the gravimeter 14 is differentially isolable from a kinematic acceleration derivable from the synchronous lidar measurement.

Provided is an aircraft 10 which has been configured for conducting airborne gravimetry surveys, comprising a gravimeter 14, a global navigation satellite system (GNSS) receiver 18 arranged in signal communication with the gravimeter 14, as well as a Doppler lidar system 20 arranged in signal communication with the gravimeter 14. The lidar system 20 is configured to determine a vertical velocity of the aircraft 10 at a predetermined time, with a time signal from the GNSS receiver 18 used to operatively synchronise both the gravimeter 14 and lidar system 20 measurements. In this manner, a gravitational acceleration measurement of the gravimeter 14 is differentially isolable from a kinematic acceleration derivable from the synchronous lidar measurement.

The disclosure relates to an apparatus, a method of vehicle heat dissipation and computer-readable storage medium. The method includes determining whether a vehicle is located in a safety zone; acquiring environment data in the safety zone when the vehicle is located in the safety zone, wherein the environment data includes information on vehicle interior environment and vehicle exterior environment; and controlling the vehicle to dissipate heat based on the environment data.

The disclosure relates to an apparatus, a method of vehicle heat dissipation and computer-readable storage medium. The method includes determining whether a vehicle is located in a safety zone; acquiring environment data in the safety zone when the vehicle is located in the safety zone, wherein the environment data includes information on vehicle interior environment and vehicle exterior environment; and controlling the vehicle to dissipate heat based on the environment data.

An integrated method and system for communication, positioning, navigation, and timing of a deep-sea vehicle. The method implements integration and deep fusion of communication, positioning, navigation, and timing, and can achieve uniformity of space references and time references between sensors and systems, can reduce difficulty in information fusion, and can implement convenient underwater acoustic communication, real-time/high-update-rate/low-power-consumption/high-precision positioning, high-precision/fault-tolerant navigation, and precise timing. The present invention implements simultaneous operation of four working modes: communication, positioning, navigation, and timing, to fundamentally resolve problems such as insufficient practicability of underwater acoustic communication, low accuracy of navigation and positioning, and no timing function, so as to improve underwater operation efficiency of a deep-sea vehicle.

An integrated method and system for communication, positioning, navigation, and timing of a deep-sea vehicle. The method implements integration and deep fusion of communication, positioning, navigation, and timing, and can achieve uniformity of space references and time references between sensors and systems, can reduce difficulty in information fusion, and can implement convenient underwater acoustic communication, real-time/high-update-rate/low-power-consumption/high-precision positioning, high-precision/fault-tolerant navigation, and precise timing. The present invention implements simultaneous operation of four working modes: communication, positioning, navigation, and timing, to fundamentally resolve problems such as insufficient practicability of underwater acoustic communication, low accuracy of navigation and positioning, and no timing function, so as to improve underwater operation efficiency of a deep-sea vehicle.

A system comprising one or more autonomous vehicles equipped with sensors to perform continuous multi-domain gravity gradiometry measurements to better understand density variation of an object, surface and/or subsurface. The autonomous vehicles may be equipped with modular customizable sensor packages having a plurality of gravity gradiometry sensors with differing sensitivities. Each sensor may be tethered to the autonomous vehicle by a tether which can be lengthened or shortened to vary the distance between the sensor and the ground. The autonomous vehicles may include an onboard data processing and visualization system configured for generating a survey model of a scanned area and/or volume based on the data received sensors on one or more autonomous vehicles. The data system may be configured to implement data-driven processes in a feedback loop to optimize positioning of the autonomous vehicle system to record measurements with less noise to refine the survey model.

A system comprising one or more autonomous vehicles equipped with sensors to perform continuous multi-domain gravity gradiometry measurements to better understand density variation of an object, surface and/or subsurface. The autonomous vehicles may be equipped with modular customizable sensor packages having a plurality of gravity gradiometry sensors with differing sensitivities. Each sensor may be tethered to the autonomous vehicle by a tether which can be lengthened or shortened to vary the distance between the sensor and the ground. The autonomous vehicles may include an onboard data processing and visualization system configured for generating a survey model of a scanned area and/or volume based on the data received sensors on one or more autonomous vehicles. The data system may be configured to implement data-driven processes in a feedback loop to optimize positioning of the autonomous vehicle system to record measurements with less noise to refine the survey model.

[Object] To provide a technology capable of accurately controlling an attitude of a flying object.

[Solving Means] An attitude control device according to the technology includes a control unit. The control unit determines a gravity direction in a flying object on the basis of static acceleration components computed on the basis of a first acceleration detection signal obtained by detecting dynamic acceleration components acting on the flying object and a second acceleration detection signal obtained by detecting the dynamic acceleration components and the static acceleration components acting on the flying object, and controls an attitude of the flying object on the basis of the gravity direction.

[Selected Drawing] FIG. 16

The present invention discloses a method for determining an inverse of gravity correlation time. During data processing on gravity measurement of moving bases, a gravity anomaly is considered as a stationary random process in a time domain, and is described with a second-order Gauss Markov model, a third-order Gauss Markov model or an m.sup.th-order Gauss Markov model, and the inverse of gravity correlation time is an important parameter of the gravity-anomaly model, and according to a gravity sensor root mean square error, a Global Navigation Satellite System (GNSS) height root mean square error, an a priori gravity root mean square, and a gravity filter cutoff frequency during the gravity measurement of the moving bases, an inverse of gravity correlation time of the second-order, third-order or m.sup.th-order Gauss Markov model is determined. According to the method for determining an inverse of gravity correlation time provided in the present invention, a forward and backward Kalman filter during data processing on gravity measurement of moving bases can be adjusted, to obtain a high-precision and high-wavelength-resolution gravity anomaly value.