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Authors: D'Agostino, G.* 
Germak, A.* 
Berrino, G.* 
Title: Long term plumb-line alignment of precise measuring instruments:An adaptive digital controller designed for an autoleveling platform
Journal: Review of Scientific Instruments 
Series/Report no.: /81 (2010)
Publisher: American Institute of Physics.
Issue Date: 2010
DOI: 10.1063/1.3492193
Keywords: measuring instruments
autoleveling platform
Subject Classification04. Solid Earth::04.02. Exploration geophysics::04.02.07. Instruments and techniques 
04. Solid Earth::04.03. Geodesy::04.03.06. Measurements and monitoring 
04. Solid Earth::04.08. Volcanology::04.08.06. Volcano monitoring 
05. General::05.01. Computational geophysics::05.01.05. Algorithms and implementation 
Abstract: Plumb-line alignment can affect the sensors of precise scientific instruments. When its effect is one of the main contributors to the measurement uncertainty, the deviation from the true vertical must be continuously monitored or compensated. This paper describes a digital control system designed and tested for an autoleveling platform. Best performances are obtained with an adaptive digital compensator based on a convolution of the error signal. Although accuracy and resolution of the leveling transducer limit the ultimate sensitivity, laboratory tests showed that the controller kept for several hours the base-plate top within 1 rad. These performances are suitable for maintaining the alignment of relative spring gravimeters used by volcanologists in long-term gravity measurements.
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