FAST馈源一次支撑测量多传感器数据融合算法的研究和应用

The large-span and high-precision real-time dynamic positioning is the key to successful construct FAST feed with no support of platform. The positioning accuracy of the feed will directly determine the performance of FAST. And high-precision measurement feedback is the key factor of the control system to complete the high-precision positioning. The precision requirements of the FAST feed support coarse-adjusting and fine-adjusting measurement system are 17mm and 3mm. The aim of this project is to improve the accuracy of feed support coarse-adjusting system and reduce the pressure of fine-adjusting platform control system by using GNSS-RTK, Total station and meteorological equipment. This project will first analyze and study the filtering algorithm of single sensor (GNSS-RTK and total station). Combining with the movement law of the feed cabin, we will establish a suitable real-time dynamic adaptive filtering algorithm model. Secondly, we will study various data fusion algorithms in depth, to achieve real-time fusion of total station and meteorological data, total station and GNSS-RTK measurement data, respectively. To contrast and analyze the fusion accuracy of each method, and finally to complete the research and application of the multi-sensor dynamic measurement data fusion. The researches of this project will have important practical value for the efficient operation of FAST project.

FAST馈源无平台支撑方案成功建造的关键是实现大跨度、高精度的实时动态定位。馈源的位姿控制精度直接决定了FAST的性能，而高精度的测量反馈，是控制系统完成高精度定位定姿的关键因素。FAST馈源一次支撑测量系统实现馈源舱位姿的粗调，精度要求为17mm，精调平台测量实现馈源的最终定位，精度要求为3mm。本项目旨在通过融合GNSS-RTK、全站仪和气象设备的数据，提高馈源一次支撑测量系统的精度，降低精调平台控制系统的压力。本课题将首先对单传感器（GNSS-RTK和全站仪）滤波算法进行分析和研究，结合馈源舱的运动规律，建立合适的实时动态自适应滤波算法模型。然后，深入研究各种数据融合算法，分别实现全站仪和气象信息、全站仪和GNSS-RTK测量数据的实时融合，完成多传感器动态测量数据融合的应用。本项目的研究成果将对提高FAST的运行效率、保障FAST高精度的天文观测具有重要的应用价值。

高精度的动态跟踪测量是FAST发挥其高灵敏度实现精准天文观测的关键，本项目旨在通过对多种测量设备的数据融合，提高FAST馈源一次支撑测量系统的可靠性，保障FAST全天候\高精度的天文观测。项目组建立了全站仪大气折光改正模型有效降低了FAST台址复杂气象条件对全站仪测距精度的影响；研制了全站仪球形波导窗屏蔽装置解决了激光测距设备的电磁干扰难题，确保高精度的全站仪测量设备可以在FAST馈源测量中应用；引入高精度的惯性测量设备，开发了GNSS/INS/全站仪数据融合算法，实现了稳定可靠的高精度测量，为控制系统提供了稳定的控制基准，也保证了FAST望远镜的全天候观测，大幅提高了FAST望远镜有效的观测时长,达到了项目的预期目标。