Kalman–FIR Fusion Filtering for High-Dynamic Airborne Gravimetry: Implementation and Noise Suppression on the GIPS-1A System

High-dynamic airborne gravimetry faces critical challenges from platform-induced noise contamination. Conventional filtering methods exhibit inherent limitations in simultaneously achieving dynamic tracking capability and spectral fidelity. To overcome these constraints, this study proposes a Kalman–FIR fusion filtering (K-F) method, which is validated through engineering implementation on the GIPS-1A airborne gravimeter platform. The proposed framework employs a dual-stage strategy: (1) An adaptive state-space framework employing calibration coefficients (Sx, Sy, Sz) continuously estimates triaxial acceleration errors to compensate for gravity anomaly signals. This approach resolves aliasing artifacts induced by non-stationary noise while preserving low-frequency gravity components that are traditionally attenuated by conventional FIR filters. (2) A window-optimized FIR post-filter explicitly regulates cutoff frequencies to ensure spectral compatibility with downstream processing workflows, including terrain correction. Flight experiments demonstrate that the K-F method achieves a repeat-line internal consistency of 0.558 mGal at 0.01 Hz—a 65.3% accuracy improvement over standalone FIR filtering (1.606 mGal at 0.01 Hz). Concurrently, it enhances spatial resolution to 2.5 km (half-wavelength), enabling the recovery of data segments corrupted by airflow disturbances that were previously unusable. Implemented on the GIPS-1A system, K-F enables precision mineral exploration and establishes a noise-suppressed paradigm for extreme-dynamic gravimetry.