| 基于多传感器融合的水田耕作机械定位系统 |
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| 引用本文： | 罗亚辉,蒋烫,胡文武. 基于多传感器融合的水田耕作机械定位系统[J]. 农机化研究, 2010, 32(4) |
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| 作者姓名： | 罗亚辉 蒋烫 胡文武 |
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| 作者单位： | 湖南农业大学,工学院,长沙,410128 |
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| 基金项目： | 湖南省科学计划重点项目(2006NK2018);;湖南农业大学稳定人才基金(04WD02) |
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| 摘 要： | 为了实现南方水田耕作机械的自动驾驶,降低劳动强度,提高工作效率,采用多传感器融合技术,利用编码盘进行绝对距离测量,融合加速度传感器进行误差补偿;利用电子罗盘进行绝对角度的测量,通过角速度传感器补偿电子罗盘定位误差。为此,以单片机为中央处理芯片,设计了一套用于南方水田耕作机械的定位系统。野外试验表明,该定位系统能实时地对作业中的水田耕作机械进行定位。在60m长度内,直线精度达到50cm以内,方位偏转角精度达到1°以内,能满足其定位要求。
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| 关 键 词： | 水田耕作机械 定位 编码测距 电子罗盘 多传感器 |
Design of Paddy Field Working Machine Orientation System Based on Multi-sensor Fusion Technology |
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| Luo Yahui,Jiang Ping,Hu Wenwu. Design of Paddy Field Working Machine Orientation System Based on Multi-sensor Fusion Technology[J]. Journal of Agricultural Mechanization Research, 2010, 32(4) |
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| Authors: | Luo Yahui Jiang Ping Hu Wenwu |
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| Affiliation: | College of Engineering/a>;Hunan Agricultural University/a>;Changsha 410128/a>;China |
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| Abstract: | In order to reduce labor intensity, improve efficiency and realize autopilot of the cultivation machinery in paddy fields, using the MCU as the central processing unit, a orientation system integrated with multi-sensor fusion technology is designed, in which the absolute distance is measured by coding disc ,whose error is compensated by acceleration sensor and the absolute angle is measured by electronic compass ,whose positioning error is compensated by angular velocity sensor. The field experiment shows t... |
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| Keywords: | the paddy field working machine orientation code ranging electronic compass multi-sensor |
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