精细育种田间局部定位系统的研制

为实现田间精细化育种，提出田间精细育种的概念并研发一种适合田间精细化育种中具有GPS定位功能的田间局部定位系统。该系统主要由全方位视觉传感器、人工标识、PC和PC软件构成；人工标识采用1个主标识和3个从标识。主要通过阈值提取人工标识的特征像素，根据2个相邻像素的欧几里得几何距离进行像素分块和求出像素分块的重心作为标识在图像中的位置求出方位角度，依据圆周角定理和几何关系推导出定位公式来计算传感器相对标识的几何位置。在室外为30?m×30?m的水平草坪上进行试验，试验结果显示估算点和选取点间距离的均方根误差约15?cm。该定位系统对于精细育种田间位置取点、精准施肥、喷药以及制作产量图是可行的。

Development of field local position system for precision breeding

Precision breeding and a local position system (LPS) substitute GPS for field local positioning was proposed in this paper. The system mainly consisted of an omnidirectional vision sensor, artificial landmarks, PC and PC software operating vehicle. The artificial landmarks adopted a primary landmark and three subsidiary landmarks. The algorithm mainly included landmark color pixels beyond threshold which were extracted and divided as a small area based on the Euclid geometrical distance. The center of gravity of the extracted small area was calculated and represented as a position of one landmark. Omnidirectional vision sensor position was estimated according with circumferential theorem and geometric transformation formula based on the direction angles. Experiments were conducted on a level lawn under the sun in a 30 m×30 m rectangular area. Results showed that the distance RMS error between estimated position and test position was about 15 cm. The system is feasible for precision breeding such as field positioning, precision fertilizing and spaying and production mapping.