Agricultural machines navigation hierarchical positioning process and system

Abstract

The invention discloses a graded positioning method for agricultural machinery navigation, comprising the following steps of acquiring a first positioning parameter, utilizing a Kalman filter to fuse the first positioning parameter, acquiring a second positioning parameter, acquiring a third positioning parameter, utilizing multi-sensor self-adaptive weighted fusion algorithm to fuse the second positioning parameter with the third positioning parameter, acquiring a target positioning parameter and positioning agricultural machinery according to the target positioning parameter. The invention also discloses a graded positioning system for agricultural machinery navigation. By fusing the positioning parameters acquired by measurement equipment for a plurality of times, the graded positioning method can smooth DGPS positioning data, effectively avoid the abnormal results of DGPS dynamic positioning, effectively filter test noise, reduce systematic error, form continuous, stable and accurate the information of the positions and course heading angles of agricultural machinery, and improve the positioning accuracy of agricultural machinery navigation.

Description

Method and system for hierarchical positioning of agricultural machinery navigation technical field The invention relates to the technical field of navigation, in particular to a method and system for agricultural machinery navigation hierarchical positioning. Background technique Navigation and positioning is the primary problem in agricultural machinery navigation, and the accuracy of navigation and positioning directly affects the quality of agricultural machinery tracking a predefined path. The main information of agricultural machinery navigation and positioning includes: position information and heading angle information, and positioning methods can be divided into absolute positioning methods and relative positioning methods. As a typical absolute positioning system, DGPS (Differential Global Positioning System) can provide receivers with information such as absolute position, speed and direction around the clock; however, the system needs to receive more than four ...

AI Technical Summary

Problems solved by technology

The problem to be solved by the embodiments of the present invention is to provide a method and system for hierarchical navigation and positioning of agricultural machinery, so as to overcome the defect of low accuracy of navigation and positioning of agricultural machinery in the prior art

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