论文标题
通过集成的GPS/SIN/TS确定快速饲料支持系统的位置和态度
Position and attitude determination by integrated GPS/SINS/TS for feed support system of FAST
论文作者
论文摘要
在本文中，提出了一个基于集成方法的新测量系统，该系统可以为FAST的饲料支持系统提供全天候的可靠性和更高的精度。测量系统由三种类型的测量设备和带有核心数据融合算法的处理软件组成。跨惯性导航系统（SINS）可以自主测量载体的位置，速度和态度。它自己的缺点是随着时间的流逝，测量数据迅速差异。罪恶必须结合全球定位系统（GPS）和总站（TS），以获得高精度测量数据。 Kalman滤波算法用于集成测量系统，该系统是估计测量误差的最佳算法。为了评估性能，进行了一系列测试。对于饲料舱，位置的最大RMS为14.56mm，姿态的最大RMS为0.095°，这些值小于15mm和0.1°，作为测量进料舱的精度。对于Stewart操纵器，位置的最大RMS为2.99mm，水位的最大RMS为0.093°，这些值小于3mm和0.1°，作为测量Stewart操纵器的精度。结果，新的测量值满足了FAST饲料支持系统的测量精度的要求。
In this paper, a new measurement system based on integration method is presented,which 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 the measurement data diverges rapidly over time. SINS must combine the Global Positioning System(GPS) and the Total Station(TS) to obtain high-precision measurement data. Kalman filtering algorithm is adopted for the integration measurement system, which is an optimal algorithm to estimate the measurement errors. To evaluate the performance, series of tests are carried out. For the feed cabin, the maximum RMS of the position is 14.56mm, the maximum RMS of the attitude is 0.095°, these value are less than 15mm and 0.1° as the precision for measuring the feed cabin. For the Stewart manipulator, the maximum RMS of the position is 2.99mm, the maximum RMS of the at titude is 0.093°, these value are less than 3mm 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.
