一种GNSS/加速度计数据融合方法探讨
Discussion on a GNSS/accelerometer data fusion method
马晓东 1王坚1
作者信息
- 1. 北京建筑大学 测绘与城市空间信息学院,北京 102600
- 折叠
摘要
针对目前桥梁施工合拢过程中的关键技术挂篮安全监测的方法主要利用全站仪和水准仪等传统设备,人员成本高,效率低,且难以满足实时监测等问题,提出一种 GNSS/加速度计数据融合方法:分析全球卫星导航系统(GNSS)由于其具有无须通视、全天候以及能够直接测量点的三维坐标等优点,已广泛应用于变形监测领域,但受多路径、采样率等因素影响,对高频振动不敏感,而加速度计具有高采样率、性能稳定等优点,但其对低频信息不敏感;结合 2 种传感器的优势,利用基于 Rauch-Tung-Striebel(RTS)平滑的多速率抗差卡尔曼滤波方法对 GNSS 和加速度数据进行融合处理.实验结果表明,该方法可有效提高GNSS挂篮振动监测的采样率和精度.
Abstract
Aiming at the problems that the basket safety monitoring method that is the key technology in the process of construction closing mainly uses traditional equipment such as total station and level,which have high personnel cost,low efficiency and are difficult to meet the requirement of real-time monitoring,the paper proposed a GNSS/accelerometer data fusion method:it was analyzed that global navigation satellite system(GNSS)has been widely used in deformation monitoring because of its advantages such as no visibility,all-weather and direct measurement of three-dimensional coordinates of points,but it is not sensitive to high frequency vibration due to the factors such as multi-path,sampling rate and so on,while accelerometers have the advantages of high sampling rate and stable performance,but they are not sensitive to low frequency information;and then combining with the advantages of the two sensors,a multi-rate robust Kalman filtering method based on Rauch-Tung-Striebel(RTS)smoothing was used to fuse GNSS and acceleration data.Experiments result showed that the method could effectively improve the sampling rate and accuracy of GNSS hanging basket vibration monitoring.
关键词
挂篮/全球卫星导航系统(GNSS)/加速度计/多速率卡尔曼滤波/平滑/抗差估计Key words
hanging basket/global navigation satellite system(GNSS)/accelerometer/multi-rate Kalman filtering/smoothing/robust estimation引用本文复制引用
基金项目
国家自然科学基金-面上项目(42274029)
出版年
2024
NETL
NSTL
万方数据