姿态卡尔曼滤波对FAST馈源舱 BDS/SINS组合导航位姿精度的提高

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.

Attitude Kalman Filtering to Improve Position and Attitude Accuracy by Integrated BDS/SINS for the FAST Feed Cabin

The position and attitude accuracy of the FAST (The Five-hundred-meter Aperture Spherical radio Telescope) feed cabin directly affects the alignment accuracy of telescope''s receiver. In order to improve the position and attitude accuracy of the feed cabin, this paper proposes the attitude Kalman filtering algorithm. The attitude of the feed cabin is solved by BDS (BeiDou Navigation Satellite System) multi-antenna technique, and the attitude difference between BDS and SINS (Strap-down Inertial Navigation System) is taken as the measurement value of the Kalman filter. In order to reduce the complexity of solving BDS attitude, the lodrigues matrix is used to solve this attitude. In this paper, the actual measurement values of the BDS and SINS are taken as the test data, when the telescope is in tracking mode. The test results show that the accuracy of the integrated navigation using attitude Kalman filtering is better than that of the traditional Kalman filtering, especially the accuracy of the yaw angle and y_f axis position.