Position and attitude determination by integrated GPS/SINS/TS for feed support system of FAST  

作　　者：Ming-Hui Li Peng Jiang Dong Jun Yul Jing Hai Sun 

机构地区：[1]National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101,China [2]University of Chinese Academy of Sciences,Beijing 100049,China

出　　处：《Research in Astronomy and Astrophysics》2020年第9期192-200,共9页天文和天体物理学研究（英文版）

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 Sciences;the Key Laboratory of Radio Astronomy,Chinese Academy of Sciences。

摘　　要：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.

关 键 词：FAST Integration measurement system GPS/SINS/TS Kalman Filter 

分 类 号：P111[天文地球—天文学]