Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth's Rotation Angular...

Area of Science:

• Geodesy and Geomatics Engineering
• Transportation Engineering
• Structural Health Monitoring

Background:

• Cableways offer efficient transportation but require robust safety monitoring.
• Accurate deformation monitoring is crucial for cableway safety, especially for wire ropes and cars.
• Existing methods face challenges in providing reliable attitude data and managing sensor drift.

Purpose of the Study:

• To develop an advanced deformation monitoring method for cableway brackets.
• To enhance the accuracy and reliability of position and attitude estimation for cableway systems.
• To address limitations of traditional Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) integration.

Main Methods:

• Proposed a zero velocity update (ZUPT)-based GNSS/IMU tightly coupled algorithm.
• Incorporated the constraint of Earth's rotation angular velocity to improve attitude estimation.
• Applied the method to monitor a cableway bracket in the Yimeng Mountain Tourism area.

Main Results:

• The proposed method effectively solves the issue of GNSS's inability to output attitude information.
• Zero velocity update (ZUPT) restrains Kalman filter divergence during stationary periods.
• The addition of Earth's rotation constraint further limits Inertial Measurement Unit (IMU) error accumulation.

Conclusions:

• The novel algorithm provides reliable position and attitude information for cableway brackets.
• This method enhances the safety and operational integrity of cableway systems.
• The approach offers a significant improvement over existing ZUPT-based GNSS/IMU algorithms.