索道已广泛应用于工业领域,城市,和风景名胜区由于它们的优势,例如作为一种便利的交通方式,节省时间,节省劳动力,成本低,以及提供环境保护。为了确保索道的安全运行,基于索道支架在静态变形监测环境中速度近似为零的特性,提出了一种基于零速度更新(ZUPT)的GNSS/IMU紧耦合算法,该算法受地球旋转角速度的约束。该方法能有效解决单个GNSS无法输出姿态的问题,这与钢丝绳和缆车的状况直接相关。同时,ZUPT用于抑制IMU静止时卡尔曼滤波器的发散。然而,ZUPT在态度上的改善不明显,所以地球旋转角速度的约束被应用。通过对山东沂蒙山旅游区索道支架的监测,评价了该方法的性能。与基于ZUPT的GNSS/IMU紧耦合算法(ZUPT-TC)相比,所提出的方法可以进一步约束IMU在静止状态下的误差累积,因此,它可以在索道支架上提供可靠的位置和姿态信息。
Cableways have been widely used in industrial areas, cities, and scenic spots due to their advantages, such as being a convenient mode of transportation, time-saving, labor-saving, and low cost, as well as offering environmental protection. To ensure the safe operation of a cableway, based on the characteristic that the velocity of the cableway bracket is approximately zero in a static deformation monitoring environment, a deformation monitoring method called zero velocity update (
ZUPT)-based GNSS/IMU tightly coupled algorithm with the constraint of the Earth\'s rotation angular velocity was proposed. The proposed method can effectively solve the problem of a single GNSS being unable to output attitude, which is directly related to the status of wire ropes and cable cars. Meanwhile,
ZUPT is used to restrain the Kalman filter\'s divergence when IMU is stationary. However, the improvements of
ZUPT on attitude are not obvious, so the constraint of the Earth\'s rotation angular velocity was applied. The performance of the proposed method was evaluated through monitoring the cableway bracket of the Yimeng Mountain Tourism area in Shandong. Compared with the
ZUPT-based GNSS/IMU tightly coupled algorithm (
ZUPT-TC), the proposed method can further constrain the error accumulation of IMU while stationary and, therefore, it can provide reliable position and attitude information on cableway brackets.