Multi-sensor information fusion method based on GPS for agricultural machine navigation

Abstract

The invention discloses a multi-sensor information fusion method based on the GPS for agricultural machine navigation. The multi-sensor information fusion method includes the steps that measurement is conducted through a navigation sensor combination, so that the original latitude, the original longitude, the original height coordinate and the original advancing speed of an agricultural machine under the WGS-84 coordinate system are obtained, and the original roll angle, the original pitching angle, the original yaw velocity and the advancing-direction accelerated velocity the agricultural machine are obtained through measurement; the original latitude, the original longitude, the original height coordinate under the WGS-84 coordinate system are converted to be under the NEU earth navigation coordinate system to obtain an initial navigation positioning position value; the yaw velocity is converted into a course angle measured value after integration is conducted; the obtained original roll angle, the obtained original pitching angle, the obtained original yaw velocity, the obtained advancing-direction accelerated velocity the obtained initial navigation positioning position value and the obtained course angle measured value are fused through an improved kalman filter, so that accurate estimation of agricultural machine positioning and course angle information is obtained. According to the method, more continuous and more stable agricultural machine navigation data can be formed, and the estimation of the course angle is accurate.

Description

technical field [0001] The invention relates to a multi-sensor information fusion method, in particular to a multi-sensor information fusion method for GPS-based agricultural machinery navigation, and belongs to the technical field of GPS navigation and positioning of agricultural machinery. Background technique [0002] With the continuous development of GPS, Beidou and other satellite navigation and positioning technologies, electronic technology, machine vision technology, modern sensor testing technology and automatic control technology, and in line with the development trend of modern agricultural production, GPS-based agricultural machinery navigation technology and equipment are developing rapidly. , has become an important part of modern intelligent agricultural machinery and equipment, and provides good technical support for modern agricultural construction. The automatic navigation technology of agricultural machinery has been industrialized in developed countries ...

AI Technical Summary

Problems solved by technology

But there is a problem: Tilt correction and Kalman filter are processed independently. Using the Kalman filter to estimate the heading angle to correct the GPS antenna tilt will easily lead to Kalman filter divergence.

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