Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring
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 ch...
| Main Authors: | , , , , , |
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| Format: | Article |
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MDPI AG
2023-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/24/9862 |
| _version_ | 1797379388987146240 |
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| author | Song Zhang Qiuzhao Zhang Ruipeng Yu Zhangjun Yu Chu Zhang Xinyue He |
| author_facet | Song Zhang Qiuzhao Zhang Ruipeng Yu Zhangjun Yu Chu Zhang Xinyue He |
| author_sort | Song Zhang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T20:22:31Z |
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| id | doaj.art-e2ebfd721edd46639c798ecf14a9d94c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-08T20:22:31Z |
| publishDate | 2023-12-01 |
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| series | Sensors |
| spelling | doaj.art-e2ebfd721edd46639c798ecf14a9d94c2023-12-22T14:41:15ZengMDPI AGSensors1424-82202023-12-012324986210.3390/s23249862Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation MonitoringSong Zhang0Qiuzhao Zhang1Ruipeng Yu2Zhangjun Yu3Chu Zhang4Xinyue He5No. 1 Institute of Geology and Mineral Resources of Shandong Province, Jinan 250109, ChinaNo. 1 Institute of Geology and Mineral Resources of Shandong Province, Jinan 250109, ChinaNo. 1 Institute of Geology and Mineral Resources of Shandong Province, Jinan 250109, ChinaSchool of Environmental and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Environmental and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Environmental and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, ChinaCableways 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.https://www.mdpi.com/1424-8220/23/24/9862GNSS/IMUtightly coupledZUPTEarth’s rotation angular velocitydeformation monitoring |
| spellingShingle | Song Zhang Qiuzhao Zhang Ruipeng Yu Zhangjun Yu Chu Zhang Xinyue He Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring Sensors GNSS/IMU tightly coupled ZUPT Earth’s rotation angular velocity deformation monitoring |
| title | Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring |
| title_full | Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring |
| title_fullStr | Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring |
| title_full_unstemmed | Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring |
| title_short | Zero-Velocity Update-Based GNSS/IMU Tightly Coupled Algorithm with the Constraint of the Earth’s Rotation Angular Velocity for Cableway Bracket Deformation Monitoring |
| title_sort | zero velocity update based gnss imu tightly coupled algorithm with the constraint of the earth s rotation angular velocity for cableway bracket deformation monitoring |
| topic | GNSS/IMU tightly coupled ZUPT Earth’s rotation angular velocity deformation monitoring |
| url | https://www.mdpi.com/1424-8220/23/24/9862 |
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