| Cableway brackets are facilities that support the cableway and are critical to the operational safety of the cableway.The coupled GNSS/IMU positioning provides high-frequency and high-precision positioning results,and is gaining attention in the field of deformation monitoring.In this thesis,the combined GNSS/IMU positioning deformation monitoring technology is studied and analyzed and verified by using simulated and measured data of cableways.The main research contents of the thesis are as follows:(1)The basic principle of GNSS dual-antenna position and attitude measurement is studied,and the analysis is verified by two sets of simulated data of cableway simulation.The experimental results show that the accuracy of GNSS baseline vector position at rest can reach millimeter level,and there is a correlation with the attitude fluctuation obtained by GNSS direct method.(2)The integrated GNSS/IMU attitude measurement technique with multiple antennas is studied,and an improved extended Kalman filtering algorithm is proposed to realize the data integration of multi-antenna attitude solution and IMU data,which improves the positional solution accuracy of the combined positioning and fixing method.The experimental results show that the improved algorithm shows certain advantages over the dual-antenna attitude measurement algorithm.(3)A GNSS/IMU tightly coupled method with zero velocity constraint and earth rotation angular velocity constraint is proposed.The experimental results show that compared with the traditional tight coupled model,the constraint model effectively solves the problem that the monitoring data cannot be processed due to the divergence of Kalman filter in the static monitoring environment,and suppresses the inertial navigation drift in GNSS/IMU Integrated positioning to a certain extent.The robustness and stability of the integrated positioning and attitude determination method are improved. |
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