基于分层结构的智能农业车辆导航数据采集与处理系统

为了满足智能农业车辆导航数据多传感器采集的需要，提出了基于分层结构的数据采集与处理系统设计方案。该方案将系统分为设备层、采集层、通讯层、数据层和数据处理层5个层次。各层独立设计，且为相邻层提供接口。首次提出归一化综合距离理论，用于数据处理过程中的异常数据剔除，采用均值滤波抑制噪声。试验表明：系统能够实时、正确地对导航数据进行采集，各传感器工作正常，CAN协议合理，分层结构的设计方案可行。同时，采用归一化综合距离法和均值滤波能够正确剔除异常数据，有效抑制噪声数据。

Data collecting and processing system for intelligent agricultural vehicle based on layered structure

A data collecting and processing system was designed based on layered structure in order to meet the need of multi\|sensor data collecting for intelligent agricultural vehicle. The system was divided into 5 layers which included device layer， collecting layer， communication layer， data layer and data processing layer. Each of the layers was designed independently and provided some interfaces for neighbor layers. Normalized comprehensive distance algorithm （NCDA） was firstly used to reject abnormal data and mean filter was used to restrain noise data in data processing. Experiments showed that navigation data could be collected correctly and in real\|time. All of the sensors worked well. CAN bus protocol was reasonable. Layered structure was feasible. Abnormal data was rejected and noise data was restrained because of NCDA and mean filter.