This paper presents a new measurement system based on integration method that can provide all-weather dependability and higher precision for the measurement of FAST's feed support system.The measurement system con...This paper presents a new measurement system based on integration method that can provide all-weather dependability and higher precision for the measurement of FAST's feed support system.The measurement system consists of three types of measuring equipments,and a processing software with the core data fusion algorithm.The Strapdown Inertial Navigation System(SINS)can autonomously measure the position,speed and attitude of the carrier.Its own shortcoming is that the measurement data diverge rapidly over time.SINS must combine the Global Positioning System(GPS)and the Total Station(TS)to obtain high-precision measurement data.The Kalman filtering algorithm is adopted for the integration measurement system,which is an optimal algorithm to estimate the measurement errors.A series of tests are carried out to evaluate the performance.For the feed cabin,the maximum RMS of the position is 14.56 mm,the maximum RMS of the attitude is 0.095,these values are less than 15 mm and 0.1°as the precision for measuring the feed cabin.For the Stewart manipulator,the maximum RMS of the position is 2.99 mm,the maximum RMS of the attitude is 0.093°,these values are less than 3 mm and 0.1°as the precision for measuring the Stewart manipulator.As a result,the new measurement meets the requirement of measurement precision for FAST's feed support system.展开更多
SINS GPS组合导航系统已经应用于许多不同的领域。介绍一种已经进入试验阶段的低成本激光陀螺SINS GPS组合导航系统。根据系统的硬件结构,设计实现了与实际系统相匹配的组合导航滤波器,根据车载试验的结果,着重分析了系统车载试验中不...SINS GPS组合导航系统已经应用于许多不同的领域。介绍一种已经进入试验阶段的低成本激光陀螺SINS GPS组合导航系统。根据系统的硬件结构,设计实现了与实际系统相匹配的组合导航滤波器,根据车载试验的结果,着重分析了系统车载试验中不同导航模式对系统性能的影响,最后给出了一些有益的结论。展开更多
基金the National Natural Science Foundation of China(Grant No.11673039)the Open Project Program of the Key Laboratory of FAST,NAOC,Chinese Academy of Sciencesthe Key Laboratory of Radio Astronomy,Chinese Academy of Sciences。
文摘This paper presents a new measurement system based on integration method that can provide all-weather dependability and higher precision for the measurement of FAST's feed support system.The measurement system consists of three types of measuring equipments,and a processing software with the core data fusion algorithm.The Strapdown Inertial Navigation System(SINS)can autonomously measure the position,speed and attitude of the carrier.Its own shortcoming is that the measurement data diverge rapidly over time.SINS must combine the Global Positioning System(GPS)and the Total Station(TS)to obtain high-precision measurement data.The Kalman filtering algorithm is adopted for the integration measurement system,which is an optimal algorithm to estimate the measurement errors.A series of tests are carried out to evaluate the performance.For the feed cabin,the maximum RMS of the position is 14.56 mm,the maximum RMS of the attitude is 0.095,these values are less than 15 mm and 0.1°as the precision for measuring the feed cabin.For the Stewart manipulator,the maximum RMS of the position is 2.99 mm,the maximum RMS of the attitude is 0.093°,these values are less than 3 mm and 0.1°as the precision for measuring the Stewart manipulator.As a result,the new measurement meets the requirement of measurement precision for FAST's feed support system.
