| 基于Kalman滤波的田间导航车辆定位校正方法研究 |
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| 引用本文： | 黎永键,赵祚喜.基于Kalman滤波的田间导航车辆定位校正方法研究[J].农业装备与车辆工程,2011(9):3-9. |
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| 作者姓名： | 黎永键 赵祚喜 |
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| 作者单位： | 1. 广东农工商职业技术学院,广东广州,510507
2. 华南农业大学工程学院,广东广州5 10642 |
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| 基金项目： | 国家“863”计划项目(2006AA10A304);国家“863”计划专题(2006AA10Z255); 精准农业智能关键装备技术引进与创新(2011-G32) |
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| 摘 要： | 以装载了RTK-DGPS导航系统的KUBOTASPU-68水田插秧机为试验平台,以姿态测量系统提供载体姿态信息,研究农业机械导航的姿态校正方法。在分析车载GPS倾斜误差产生原因基础上,提出了采用多传感器联合测量载体姿态角以提供校正信息。采用MEMS传感器集成模块ADIS16355作为惯性测量单元,卡尔曼滤波实现传感器信息融合以计算姿态角,设计了姿态测量系统。阐述了两种传感器融合测量实时姿态角的算法,基于ARM7Cotex-M3微处理器设计了姿态测量系统硬件。
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| 关 键 词： | 定位校正 MEMS惯性传感器 Kalman滤波 传感器融合 |
Positioning Correction Method Based on Kalman Filter for Agricultural Vehicle |
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| Li Yongjian,Zhao Zuoxi.Positioning Correction Method Based on Kalman Filter for Agricultural Vehicle[J].Agricultural Equipment & Vehicle Engineering,2011(9):3-9. |
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| Authors: | Li Yongjian Zhao Zuoxi |
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| Institution: | Li Yongjian1,Zhao Zuoxi2(1.Guangdong AIB Polytechnic College,Guangzhou 510507,China,2.South China Agricultural University,Guangzhou 510642,China) |
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| Abstract: | An automatic guidance system was developed on KUBOTA SPU-68 rice transplanter using Trimble 5700 RTK-DGPS and attitude measurement system.GPS positioning data was corrected using the heading,roll and pitch parameters acquired from attitude measurement system.The design of attitude measurement system is presented,among which their main features are:monitoring the attitude angles by fusing one tri-axial accelerometer and one tri-axial gyroscope integrated in ADIS16355;one kalman filter is then designed as sen... |
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| Keywords: | positioning correction MEMS inertial sensor Kalman filter sensor fusion |
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