AI 中文总结
本研究首次完成无GNSS的量子重力仪重力图匹配导航演示，对比了万向架式与捷联式量子重力测量，实现83公里海上轨迹的海里级精度定位及mGal级重力测量
AI 中文摘要
全球导航卫星系统（GNSS）在海上常受干扰或无法使用，而无辅助的惯性导航系统（INS）若无校正会发生漂移。基于量子传感的重力图匹配是一种无源、无需基础设施的辅助手段，但目前尚无无GNSS的量子重力导航的现场演示。本研究中，我们在一艘29米长的水面船只上搭载移动量子重力仪，开展重力图匹配和高分辨率重力测量。我们将原子传感器与经典加速度计混合以实现偏置稳定，并独立构建了导航级惯性测量单元（IMU），所有设备均安装在无环境稳定或校准的非受控舱室中。在相同的航线上，分别以万向架式和捷联式配置运行时，混合传感器通过将本地测量的重力与卫星-derived异常图进行参考，在83公里的海上轨迹上校正了惯性解。重力辅助约束了INS漂移，并提供了以海里级精度为界的定位，整个测量链中均排除了GNSS。在单独的GNSS参考模式下，同一系统对海况4级以内的沿海航线进行了测量，与重力图达到mGal级一致性，且具有亚mGal的重复性和稳定性，万向架式与捷联式运行表现相当。解析的异常达到沿轨约300米的尺度，比卫星图的半功率波长精细50倍。一项56小时的静止测试显示，原子参考相比仅经典通道将长期漂移降低了约70倍。这些结果提供了首次同设备对万向架式和捷联式移动量子重力测量的比较，以及首次使用量子重力仪实现完全无GNSS的重力图匹配导航演示，为面向无GNSS的海上导航和测量的紧凑、自主平台可用的量子传感指明了方向。
英文摘要
Global navigation satellite systems (GNSS) are often disrupted or unavailable at sea, and unaided inertial navigation systems (INS) drift without correction. Quantum-sensing-based gravity map matching offers a passive, infrastructure-free aid, but field demonstrations of GNSS-free quantum gravimetric navigation have not been reported. Here we perform gravity map matching and fine-resolution gravity survey with a mobile quantum gravimeter aboard a 29 m surface vessel. We hybridize an atomic sensor with a classical accelerometer for bias stabilization and independently mechanize a navigation-grade IMU, all installed in an uncontrolled cabin with no environmental stabilization or calibration. Operated in both gimbaled and strapdown configurations over identical traversals, the hybrid sensor corrected the inertial solution over an 83 km maritime trajectory by referencing locally measured gravity to a satellite-derived anomaly map. Gravity-aiding constrains INS drift and delivers bounded positioning at nautical-mile-level accuracy, with GNSS excluded throughout the measurement chain. In a separate GNSS-referenced mode, the same system surveyed coastal routes up to Sea State 4, achieving mGal-level agreement with gravimetric maps and sub-mGal repeatability and stability, with gimbaled and strapdown operation performing comparably. Resolved anomalies reach an along-track scale of ~300 m, 50X finer than the satellite map's half-power wavelength. A 56 h stationary test shows atom referencing lowers long-term drift ~70X versus the classical channel alone. These results provide the first same-instrument comparison of gimbaled and strapdown mobile quantum gravimetry and the first fully GNSS-independent gravity-map-matching navigation demonstration using a quantum gravimeter, pointing toward compact, autonomous-platform-ready quantum sensing for GNSS-denied maritime navigation and survey.
