In this paper, a new measurement system based on integration method is presented,which can provide all-weather dependability and higher precision for the measurement of FAST's feed support system. The measurement system consists of three types of measuring equipments, and a processing software with the core data fusion algorithm. The Strapdown Inertial Navigation System(SINS) can autonomously measure the position, speed and attitude of the carrier. Its own shortcoming is the measurement data diverges rapidly over time. SINS must combine the Global Positioning System(GPS) and the Total Station(TS) to obtain high-precision measurement data. Kalman filtering algorithm is adopted for the integration measurement system, which is an optimal algorithm to estimate the measurement errors. To evaluate the performance, series of tests are carried out. For the feed cabin, the maximum RMS of the position is 14.56mm, the maximum RMS of the attitude is 0.095°, these value are less than 15mm and 0.1° as the precision for measuring the feed cabin. For the Stewart manipulator, the maximum RMS of the position is 2.99mm, the maximum RMS of the at titude is 0.093°, these value are less than 3mm and 0.1° as the precision for measuring the Stewart manipulator. As a result, the new measurement meets the requirement of measurement precision for FAST's feed support system.

中文翻译：

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FAST 饲料支持系统集成 GPS/SINS/TS 的位置和姿态确定

本文提出了一种基于积分法的新型测量系统,可为FAST的饲料支持系统的测量提供全天候的可靠性和更高的精度。测量系统由三类测量设备和具有核心数据融合算法的处理软件组成。捷联惯性导航系统（SINS）可以自主测量载体的位置、速度和姿态。它本身的缺点是测量数据随着时间的推移会迅速发散。SINS必须结合全球定位系统（GPS）和全站仪（TS）才能获得高精度的测量数据。积分测量系统采用卡尔曼滤波算法，是估计测量误差的最优算法。为了评估性能，进行了一系列测试。对于进料舱，位置的最大RMS为14.56mm，姿态的最大RMS为0.095°，这些值小于15mm，0.1°作为测量进料舱的精度。对于 Stewart 机械手，位置的最大 RMS 为 2.99mm，姿态的最大 RMS 为 0.093°，这些值小于 3mm 和 0.1° 作为测量 Stewart 机械手的精度。因此，新的测量满足了FAST饲料支持系统对测量精度的要求。这些值小于 3mm 和 0.1° 作为测量 Stewart 机械手的精度。因此，新的测量满足了FAST饲料支持系统对测量精度的要求。这些值小于 3mm 和 0.1° 作为测量 Stewart 机械手的精度。因此，新的测量满足了FAST饲料支持系统对测量精度的要求。