| 农机车载GPS和DR组合导航系统定位方法 |
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| 引用本文： | 周建军,王秀,张睿,刘刚,马伟,冯青春.农机车载GPS和DR组合导航系统定位方法[J].农业机械学报,2012,43(Z1):262-265. |
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| 作者姓名： | 周建军 王秀 张睿 刘刚 马伟 冯青春 |
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| 作者单位： | 1. 国家农业信息化工程技术研究中心,北京,100097
2. 中国农业大学现代精细农业系统集成研究教育部重点实验室,北京,100083 |
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| 基金项目： | 国家自然科学基金资助项目（31101088）;国家高技术研究发展计划（863计划）资助项目（2012AA10A503） |
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| 摘 要： | 为提高农机车载GPS和DR组合导航系统定位的精度,将模糊逻辑和卡尔曼滤波相结合,研究了模糊自适应卡尔曼滤波算法,在线修正系统量测噪声协方差阵.该算法在改装的农机车上进行了试验.试验表明,模糊自适应卡尔曼滤波能抑制异常值对系统定位精度的影响,定位精度较单个GPS高.系统使用模糊自适应卡尔曼滤波后,x方向和y方向平均误差分别为0.13m和0.20m,定位曲线得到了平滑.
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| 关 键 词： | 农机导航 全球定位系统 航位推算 定位 Kalman滤波 |
GPS/DR Integrated Navigation Positioning Method for Agricultural Machinery |
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| Zhou Jianjun,Wang Xiu,Zhang Rui,Liu Gang,Ma Wei and Feng Qingchun.GPS/DR Integrated Navigation Positioning Method for Agricultural Machinery[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(Z1):262-265. |
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| Authors: | Zhou Jianjun Wang Xiu Zhang Rui Liu Gang Ma Wei and Feng Qingchun |
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| Institution: | National Engineering Research Center for Information Technology in Agriculture;National Engineering Research Center for Information Technology in Agriculture;National Engineering Research Center for Information Technology in Agriculture;China Agricultural University;National Engineering Research Center for Information Technology in Agriculture;National Engineering Research Center for Information Technology in Agriculture |
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| Abstract: | In order to improve positioning accuracy of GPS/DR integrated navigation, the fuzzy adaptive Kalman filter method was analyzed. Experiment was carried out on the modified agricultural machinery. Experiment results showed that the fuzzy adaptive Kalman filtering could inhibit the influence of unusual values on the localization precision of the system, and the system positioning accuracy of the proposed method was better than single GPS. The average positioning error of the x and y directions were 0.13m and 0.20m by using the fuzzy adaptive Kalman filter. Positioning curves was smoother after filer. |
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| Keywords: | Agricultural machinery navigation GPS Dead reckoning Positioning Kalman filter |
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