The invention relates to the technical field of
tractor attitude detection, in particular to a
tractor attitude detection method based on forward-forward
backtracking, and the method comprises the steps: firstly building a
tractor attitude detection hardware
system which comprises an
inertial measurement unit, a Beidou
satellite antenna and a
microcontroller; the method comprises the following steps: constructing a strapdown inertial navigation
backtracking alignment error model based on an inertial
system by utilizing high-frequency acceleration and
angular velocity information originally output by an
inertial measurement unit, and establishing a state equation of a tractor combined attitude detection
system; real-time position information of a tractor is obtained by using a Beidou
satellite, a displacement vector of the tractor under an initial
navigation system is solved through position difference and matrix transformation, a tractor combined attitude detection system measurement equation is constructed for filtering, a filtering result is fed back to correct an error of a strapdown
inertial navigation system, and the error is calculated. Therefore, the real-time attitude of the tractor can be quickly and accurately solved. The problems that a traditional tractor attitude detection method is low in convergence speed, poor in dynamic performance and the like in a
complex field operation environment are solved.