大射电望远镜激光全站仪测量系统的研究
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摘要
在FAST项目的预研究中,Leica全站仪在动态跟踪测量状态下存在的误差、时滞和采样间隔不稳定等不足,给馈源跟踪控制带来许多困难。因此,提高测量精度是一个需要解决的重要技术问题。具体内容如下:
1、针对FAST中存在的测量误差问题,本文设计了一种基于频率分析的滤波器,通过数值试验,验证了该滤波器具有良好的滤波能力;
2、针对FAST馈源支撑系统的运动特征,建立了馈源舱的运动方程,在本文提出的基于频率分析的滤波的基础上,对滤波数据进行了预测,通过数值试验验证了预测数据的有效性;
3、通过大射电望远镜LT-5m模型,发现了测量仪器Leica激光全站仪在动态跟踪测量初期存在3-7mm的数据跳变问题,找到了问题的来源,提出了解决方案,并通过实验有效的消除了数据的跳变,为以后的实验提供了参考。
In pre-study of FAST(Five-hundred Meter Aperture Spherical Telescope), there are some disadvantages with Leica laser total stations,such as error,time lag and the instability of sampling interval in dynamic tracking measurement which bring many difficulties to tracking control of feedback.Therefore, the improvement of measurement accuracy is an important technical problem which is need to be solved.
The main research works can be described as follows.
1. This paper design a filter based on frequency analysis aimed at the measurement error in FAST.The experiment results prove that this filter has good filtering ability;
2. This paper establishes the moving equations aimed at the moving characteristics of feedback supporting system in FAST.Based on the filter which this paper proposed,the filtering datas are forecasted.The experiment results prove the effect of the forecast datas;
3. Through large radio telescope (LT) 5m model, the problem of 3-7mm data jump for leica laser total stations was occurred during the initial stages of dynamic tracking measurement. The cause of the problem was found through the experiments. The solution was provided and the experiments eliminated the data jump effectively. It provides reference for the future experiments.
1、针对FAST中存在的测量误差问题,本文设计了一种基于频率分析的滤波器,通过数值试验,验证了该滤波器具有良好的滤波能力;
2、针对FAST馈源支撑系统的运动特征,建立了馈源舱的运动方程,在本文提出的基于频率分析的滤波的基础上,对滤波数据进行了预测,通过数值试验验证了预测数据的有效性;
3、通过大射电望远镜LT-5m模型,发现了测量仪器Leica激光全站仪在动态跟踪测量初期存在3-7mm的数据跳变问题,找到了问题的来源,提出了解决方案,并通过实验有效的消除了数据的跳变,为以后的实验提供了参考。
In pre-study of FAST(Five-hundred Meter Aperture Spherical Telescope), there are some disadvantages with Leica laser total stations,such as error,time lag and the instability of sampling interval in dynamic tracking measurement which bring many difficulties to tracking control of feedback.Therefore, the improvement of measurement accuracy is an important technical problem which is need to be solved.
The main research works can be described as follows.
1. This paper design a filter based on frequency analysis aimed at the measurement error in FAST.The experiment results prove that this filter has good filtering ability;
2. This paper establishes the moving equations aimed at the moving characteristics of feedback supporting system in FAST.Based on the filter which this paper proposed,the filtering datas are forecasted.The experiment results prove the effect of the forecast datas;
3. Through large radio telescope (LT) 5m model, the problem of 3-7mm data jump for leica laser total stations was occurred during the initial stages of dynamic tracking measurement. The cause of the problem was found through the experiments. The solution was provided and the experiments eliminated the data jump effectively. It provides reference for the future experiments.
引文
[1]段宝岩.天线结构分析、优化与测量.西安电子科技大学出版社,1998
[2]雷源忠.我科学家对新一代大射电望远镜研究取得重要进展.中国机械工程,1998,9(11): 87
[3]一九九九年度“大射电望远镜FAST预研究”工作汇报.国家天文观测中心大射电望远镜实验室,2000.3
[4] Memorandum of an agreement to cooperate in a technology study program leading to a future very large radio telescope, signed by participants from Australis, Canada, China, India, the Netherlands, the U.S.A.
[5]南仁东.国际项目争建建议书.北京天文台,1996
[6]邱育海.具有主动反射面的巨型球面射电望远镜.天体物理学报,1998,18(2):222-227
[7] Su Y X, Duan B Y. The application of the Stewart platform in large spherical radio telescopes. Journal of Robotic Systems, 2000,17 (7): 375-383
[8]南仁东,邱玉海、彭勃. 1999-FAST学术年会工作报告.1999,4月,北京
[9] Li H. China Hopes to Move FAST on Largest Telescope. J. Science, 1998, 281(5378): 771
[10]朱文白. FAST望远镜馈源运动的描述.国家天文观测中心MEMOs of the FAST,1999.
[11]南仁东,邱玉海、彭勃. 1999-FAST学术年会工作报告.1999,4月,北京
[12] Qiu Y. H. A novel design for a giant Arecibo-type spherical radio telescope with an active main reflector. Mon. Not. R. Astron. Soc. 1998,301:827-830
[13] Weygaert R. van de,Albada T.S. van. New challenges for cosmology. The westerbork observatory, continuing adventure in radio astronomy. Astrophysics and Space Science Library 1996, 207:225-295
[14] Legg T.H. A proposed new design for a large radio telescope. Astronomy and Astrophysics Supplement. 1998, 130:369-379
[15] Duan B.Y. Study on the line feed system of large spherical radio telescope from the viewpoint of mechanical and structural engineering. Proceedings of the Third International Conference on Large Radio Telescope, Guizhou of China, Oct. 2-6, 1995
[16] Duan B.Y., Duan S. J. On the nonlinear dynamic analysis of the line feed structure and its suspended cable structure used in large spherical radio telescope. Invitedpaper at the 25th Conference of International Union of Radio Science, Lille of France, Aug.28-Sep. 5, 1996
[17] Duan B.Y., Zhang J B. Some new result about the integrated design of mechanical electronic, optic and automatic control technologies for next generation large radio telescopes. Invited paper at the Inter. Conf. of LT Workshop, Sydney, Australia, Dec. 15-18, 1997
[18] Duan B.Y., A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis. Int. J. Mechatronics, 1999,9:53-64
[19]骆亚波.测量机器人在FAST馈源动态跟踪测量中的应用.硕士学位论文,解放军信息,工程大学. 2003.4
[20] Singer Robert A. Estimating optimal tracking filter performance for manned maneuvering targets. IEEE Trans Aerospace and Electronic Systems, 1970, 6(4): 473-483
[21] Levine J, Marino R. Constant-Speed target tracking via bearings-only measurements. IEEE Trans Aerospace and Electronic Systems, 1992, 28 (1): 174-182
[22] Li H N, Zhu Z M, Li J S. Tracking and navigating filter for maneuvering target. Chinese Space Science and Technology, 2003, (3): 13-18
[23] Xu L P. An adaptive filter algorithm for tracking the maneuvering target. Journal of Xidian University, 1998, 25(3): 314-317
[24] Li R X, Jilkov V P. Survey of maneuvering target tracking. Part I: Dynamic models. IEEE Trans Aerospace and Electronic Systems, 2003, 39(4): 1333-1363
[25]敬忠良.机动目标跟踪.国防工业出版社,1991
[26] Zhou Hongren, Kumar.K.S.P. An adaptive algorithm for estimating the acceleration of highly maneuvering targets.Proceedings of the 21st Conference on Decision and Control,Orlando:1982,3
[27] Zhou Hongren,Kumar.K.S.P.A current statistical model and adaptive algorithm for estimating maneuvering targets.AIAA Journal,Guidance,Control and Dynamics,19 84,7(5)
[28]敬忠良.神经网络跟踪理论及应用.国防工业出版社,1995
[29]彭永华,吴俊杰.采用自适应滤波技术的机载雷达跟踪系统.航空学报,1988,9(4):192-199
[30]侯明,王培德.机动多目标的模型与跟踪算法.航空学报,1990第5期,282-287
[31]朱自谦.一种用于机动目标跟踪的复合机动模型及其应用.控制与决策年会论文集,1992:513-518
[32]王培德,敬忠良,周宏仁.残差滤波及其在密集多回波环境下机动多目标跟踪中的应用.航空学报,1988,9(5):281-28
[33]贾沛璋.跟踪飞机机动的自适应滤波方法.航空学报,1990年第9期:456-464
[34] Blom.H.A.P. An efficient filter for abruptly changing systems. Proceedings of IEEE 23rd Conference on Decision and Control,Las Vegas,1984:656-658
[35] Blom.H.A.P, Y.Bar-Shalom. The interacting multiple model algorithm for systems with Markovian switching coefficients. IEEE Transactions on Automatic Control,1988,23(8):780-783
[36] Y.Bar-Shalom, Chang.K.C, Blom.H.A.P. Tracking a maneuvering target using input estimation versus interacting multiple model algorithm. IEEE Transactions on Aerospace and Electronic Systems.1989,16(2):296-300
[37]储妮晟.基于预测的振动测试削波数据恢复.硕士学位论文,西北工业大学,2006.3
[38]朱文白. FAST望远镜天文规划和馈源支撑的相关研究.博士学位论文,中国科学院研究生院. 2006.6
[39]保宏,段宝岩,陈光达.具有慢速时滞机动目标三维跟踪.控制理论与应用.2006,23(4):526-530
[40] Krishna.K.Busawon,Pousga Kabore. Disturbance attenuation using proportional integral ovservers. International Journal of Control,2001,vol.74,NO.6:618-627
[41]李海滨,保宏.大射电望远镜5m模型全站仪设站研究[J] .现代制造工程,2005,12:7-8
[42]郭秉江,许提多. LeicaTCA1800高精度超长跨海高程传递[J] .铁道勘查,2007,1:1-5
[43]陈尚东. TC-1800电子全站仪在电力勘测中的应用[J] .电力勘测,1999,6(2):42-45
[44]徐忠阳,张良琚,魏进祥.基于徕卡TCR系列全站仪的立式油罐容量标定测量系统[J] .测绘信息与工程,2002,27(4):1-2
[45] Leica全站仪用户手册
[46] API Tracker 3使用说明书
[2]雷源忠.我科学家对新一代大射电望远镜研究取得重要进展.中国机械工程,1998,9(11): 87
[3]一九九九年度“大射电望远镜FAST预研究”工作汇报.国家天文观测中心大射电望远镜实验室,2000.3
[4] Memorandum of an agreement to cooperate in a technology study program leading to a future very large radio telescope, signed by participants from Australis, Canada, China, India, the Netherlands, the U.S.A.
[5]南仁东.国际项目争建建议书.北京天文台,1996
[6]邱育海.具有主动反射面的巨型球面射电望远镜.天体物理学报,1998,18(2):222-227
[7] Su Y X, Duan B Y. The application of the Stewart platform in large spherical radio telescopes. Journal of Robotic Systems, 2000,17 (7): 375-383
[8]南仁东,邱玉海、彭勃. 1999-FAST学术年会工作报告.1999,4月,北京
[9] Li H. China Hopes to Move FAST on Largest Telescope. J. Science, 1998, 281(5378): 771
[10]朱文白. FAST望远镜馈源运动的描述.国家天文观测中心MEMOs of the FAST,1999.
[11]南仁东,邱玉海、彭勃. 1999-FAST学术年会工作报告.1999,4月,北京
[12] Qiu Y. H. A novel design for a giant Arecibo-type spherical radio telescope with an active main reflector. Mon. Not. R. Astron. Soc. 1998,301:827-830
[13] Weygaert R. van de,Albada T.S. van. New challenges for cosmology. The westerbork observatory, continuing adventure in radio astronomy. Astrophysics and Space Science Library 1996, 207:225-295
[14] Legg T.H. A proposed new design for a large radio telescope. Astronomy and Astrophysics Supplement. 1998, 130:369-379
[15] Duan B.Y. Study on the line feed system of large spherical radio telescope from the viewpoint of mechanical and structural engineering. Proceedings of the Third International Conference on Large Radio Telescope, Guizhou of China, Oct. 2-6, 1995
[16] Duan B.Y., Duan S. J. On the nonlinear dynamic analysis of the line feed structure and its suspended cable structure used in large spherical radio telescope. Invitedpaper at the 25th Conference of International Union of Radio Science, Lille of France, Aug.28-Sep. 5, 1996
[17] Duan B.Y., Zhang J B. Some new result about the integrated design of mechanical electronic, optic and automatic control technologies for next generation large radio telescopes. Invited paper at the Inter. Conf. of LT Workshop, Sydney, Australia, Dec. 15-18, 1997
[18] Duan B.Y., A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis. Int. J. Mechatronics, 1999,9:53-64
[19]骆亚波.测量机器人在FAST馈源动态跟踪测量中的应用.硕士学位论文,解放军信息,工程大学. 2003.4
[20] Singer Robert A. Estimating optimal tracking filter performance for manned maneuvering targets. IEEE Trans Aerospace and Electronic Systems, 1970, 6(4): 473-483
[21] Levine J, Marino R. Constant-Speed target tracking via bearings-only measurements. IEEE Trans Aerospace and Electronic Systems, 1992, 28 (1): 174-182
[22] Li H N, Zhu Z M, Li J S. Tracking and navigating filter for maneuvering target. Chinese Space Science and Technology, 2003, (3): 13-18
[23] Xu L P. An adaptive filter algorithm for tracking the maneuvering target. Journal of Xidian University, 1998, 25(3): 314-317
[24] Li R X, Jilkov V P. Survey of maneuvering target tracking. Part I: Dynamic models. IEEE Trans Aerospace and Electronic Systems, 2003, 39(4): 1333-1363
[25]敬忠良.机动目标跟踪.国防工业出版社,1991
[26] Zhou Hongren, Kumar.K.S.P. An adaptive algorithm for estimating the acceleration of highly maneuvering targets.Proceedings of the 21st Conference on Decision and Control,Orlando:1982,3
[27] Zhou Hongren,Kumar.K.S.P.A current statistical model and adaptive algorithm for estimating maneuvering targets.AIAA Journal,Guidance,Control and Dynamics,19 84,7(5)
[28]敬忠良.神经网络跟踪理论及应用.国防工业出版社,1995
[29]彭永华,吴俊杰.采用自适应滤波技术的机载雷达跟踪系统.航空学报,1988,9(4):192-199
[30]侯明,王培德.机动多目标的模型与跟踪算法.航空学报,1990第5期,282-287
[31]朱自谦.一种用于机动目标跟踪的复合机动模型及其应用.控制与决策年会论文集,1992:513-518
[32]王培德,敬忠良,周宏仁.残差滤波及其在密集多回波环境下机动多目标跟踪中的应用.航空学报,1988,9(5):281-28
[33]贾沛璋.跟踪飞机机动的自适应滤波方法.航空学报,1990年第9期:456-464
[34] Blom.H.A.P. An efficient filter for abruptly changing systems. Proceedings of IEEE 23rd Conference on Decision and Control,Las Vegas,1984:656-658
[35] Blom.H.A.P, Y.Bar-Shalom. The interacting multiple model algorithm for systems with Markovian switching coefficients. IEEE Transactions on Automatic Control,1988,23(8):780-783
[36] Y.Bar-Shalom, Chang.K.C, Blom.H.A.P. Tracking a maneuvering target using input estimation versus interacting multiple model algorithm. IEEE Transactions on Aerospace and Electronic Systems.1989,16(2):296-300
[37]储妮晟.基于预测的振动测试削波数据恢复.硕士学位论文,西北工业大学,2006.3
[38]朱文白. FAST望远镜天文规划和馈源支撑的相关研究.博士学位论文,中国科学院研究生院. 2006.6
[39]保宏,段宝岩,陈光达.具有慢速时滞机动目标三维跟踪.控制理论与应用.2006,23(4):526-530
[40] Krishna.K.Busawon,Pousga Kabore. Disturbance attenuation using proportional integral ovservers. International Journal of Control,2001,vol.74,NO.6:618-627
[41]李海滨,保宏.大射电望远镜5m模型全站仪设站研究[J] .现代制造工程,2005,12:7-8
[42]郭秉江,许提多. LeicaTCA1800高精度超长跨海高程传递[J] .铁道勘查,2007,1:1-5
[43]陈尚东. TC-1800电子全站仪在电力勘测中的应用[J] .电力勘测,1999,6(2):42-45
[44]徐忠阳,张良琚,魏进祥.基于徕卡TCR系列全站仪的立式油罐容量标定测量系统[J] .测绘信息与工程,2002,27(4):1-2
[45] Leica全站仪用户手册
[46] API Tracker 3使用说明书