基于IMU的FAST巡检定位系统研究  

Research on Positioning System for FAST Inspection Based on IMU

作　　者：胡玮 于东俊[1] 孙京海[1] HU Wei;YU Dong-jun;SUN Jing-hai(National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101;University of Chinese Academy of Sciences,Beijing 100049)

机构地区：[1]中国科学院国家天文台,北京100101 [2]中国科学院大学,北京100049

出　　处：《天文学报》2025年第1期94-103,共10页Acta Astronomica Sinica

基　　金：国家自然科学基金项目(42274055);贵州省省级科技计划项目(黔科合支撑[2023]一般352)资助。

摘　　要：日常巡检是500m口径球面射电望远镜(Five-hundred-meter Aperture Spherical radio Telescope,FAST)运行和维护中的重要工作. FAST部件众多,巡检过程中存在工作量大、寻找部件费时费力的问题.实现巡检定位,可以引导维护人员快速到达故障点,对提高巡检效率,保障望远镜正常运行有重要意义.考虑到反射面对卫星信号存在遮挡,采用惯性导航的方式,基于双足脚绑IMU(Inertial Measurement Unit),设计了1套步行导航算法.算法沿用零速修正框架,融合双足信息,并结合磁场信息修正航向误差.在规则轨迹中测试了算法有效性,水平定位误差在行走距离的3%以内.在巡检现场的不规则轨迹中,结合沿途标志点,水平定位误差小于11 m,能够满足日常巡检定位的需要和支撑后续巡检定位系统的实用化.Routine inspection is an important task in the operation and maintenance of FAST(Fivehundred-meter Aperture Spherical radio Telescope).The telescope consists of a large number of components.Searching for components by their numbers during the inspection is time-consuming and laborious.Solving the position and navigation problem in inspection can help maintenance personnel find fault points quickly.It is important for improving the inspection efficiency and ensuring the telescope runs normally.Given that the satellite signals are blocked by FAST reflector,the inertial navigation is adopted and a set of pedestrian inertial navigation algorithm is designed based on pedestrian foot-mounted IMUs(Inertial Measurement Units).The algorithm follows the Zero Velocity Update(ZUPT)algorithm framework,fuses the data of two IMUs of two feet,and uses the magnetic field information to correct the heading error.The effectiveness of the algorithm was tested in regular trajectories,and the horizontal positioning error was within 3%of the walking distance.Every actuator has accurate coordinates and can be used as marker points to correct the position of inspectors when they pass.In the irregular trajectory of the inspection situation,combined with the control points along the way,the positioning error is less than 11 meters.The precision of algorithm can meet the positioning needs in inspection and support the application of the positioning system for inspection in the future.

关 键 词：望远镜:500 m口径球面射电望远镜 技术:步行导航 仪器:脚绑惯性测量单元 方法:卡尔曼滤波 

分 类 号：P111[天文地球—天文学]