Navigation method and navigation device of agricultural machinery as well as agricultural machinery

Abstract

The invention provides a navigation method and a navigation device of agricultural machinery as well as agricultural machinery, wherein the navigation method of agricultural machinery comprises the following steps: acquiring positioning information comprising position coordinates, speed and course information of the agricultural machinery through more than one sensor; according to the two-wheel kinematics model of the agricultural machinery and the minimum time problem in the optimal control theory, acquiring the expected path information of the agricultural machinery by computing; designing a optimal controller of a path tracking according to the two-wheel kinematics model of the agricultural machinery and the design criteria on a terminal time unlimited regulator of a tracking problem; acquiring a path error according to the positioning information of the agricultural machinery and the expected path information; and acquiring path adjusting information according to the path error information and the path tracking optimal controller, and sending the path adjusting information to an automatic steering system. The embodiment of the invention also provides a navigation device of the agricultural machinery and the agricultural machinery provided with the navigation device. The method, the device and the equipment can improve the accuracy of navigation.

Description

technical field [0001] The invention relates to the technical field of machinery navigation, in particular to a navigation method for agricultural machinery, a navigation device and agricultural machinery. Background technique [0002] The navigation of agricultural machinery can be defined as determining the size of the steering angle of the vehicle according to the error between the actual position of the agricultural machinery and the expected path, so that it can follow the predetermined path. The navigation system of agricultural machinery can include modules such as positioning, path planning, navigation control, mechanical model and communication. [0003] The positioning is mainly based on the corresponding sensors to detect the position, attitude, speed, acceleration and other information of the agricultural machinery. Specifically, machine vision, laser positioning, Global Positioning System (Global Positioning System, hereinafter referred to as: GPS), inertial nav...

AI Technical Summary

Problems solved by technology

[0004] The inventor found in the process of realizing the present invention that the existing agricultural machinery has the disadvantage of low tracking accuracy for the navigation system, which easily causes large tracking errors and cannot realize accurate navigation

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