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The paper relates to a motion planning algorithm for the feed support system of the Five-hundred-meter Aperture Spherical radio Telescope(FAST).To enhance the stability of the feed support system,the start/termination planning segments are adopted with an acceleration and deceleration section.The source switching planning adopts a combination of a line segment and focal segment to realize stable control of the feed support system.Besides,during the observation trajectory,a transition segment which is not used for observation data is planned with a required time.Through an example simulation,a smooth change is realized via the motion planning algorithm and presented in this paper. 相似文献
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500 m球面射电望远镜(The Five-hundred-meter Aperture Spherical radio Telescope, FAST)馈源舱位置和姿态测量精度直接影响望远镜接收机的对准精度.为了提高馈源舱位姿精度,提出姿态卡尔曼滤波算法,采用北斗导航系统的多天线技术解算馈源舱姿态,将它与捷联惯导解算的馈源舱姿态对比,两者的差值作为姿态卡尔曼滤波的量测量.为了降低北斗导航系统解算姿态的复杂度,采用了罗德里格矩阵解算方法.以望远镜跟踪观测模式时,北斗导航系统和捷联惯导解算的实际导航结果作为测试数据,测试结果表明采用姿态卡尔曼滤波的组合导航结果精度优于传统卡尔曼滤波的组合导航结果,尤其在航向角和yf轴的位置精度上. 相似文献
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