Strapdown inertial navitation system and control method for agricultural machines

A technology of agricultural machinery and control methods, which is applied in directions such as navigation through speed/acceleration measurement, and can solve problems such as inapplicability

Inactive Publication Date: 2015-06-10
SHANGHAI HUACE NAVIGATION TECH
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  • Description
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AI Technical Summary

Problems solved by technology

SINS is mostly used in aircraft navigation control systems, while the research and application in the field of agricultural machinery control is in its infancy, and the application objects and environmental conditions of the two are quite different. The method is not always applicable in the control of agricultural machinery

Method used

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  • Strapdown inertial navitation system and control method for agricultural machines
  • Strapdown inertial navitation system and control method for agricultural machines
  • Strapdown inertial navitation system and control method for agricultural machines

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Embodiment Construction

[0082] In order to describe the technical content of the present invention more clearly, further description will be given below in conjunction with specific embodiments.

[0083] The strapdown inertial navigation system and control method for agricultural machinery of the present invention adopt a relatively high-precision six-axis inertial sensor, including three-direction acceleration sensors and three-axis gyroscope sensors, and the sensors can obtain the acceleration and angular velocity of the object's motion in real time , the velocity can be calculated by integrating the acceleration and the position information can be calculated by integrating again, the current attitude angle (pitch angle, roll angle and heading angle) of the car body can be calculated by integrating the angular velocity, and then the attitude is converted into an attitude matrix , so as to realize the conversion between the carrier coordinate system and the navigation coordinate system, and this atti...

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Abstract

The invention relates to a strapdown inertial navitation system for agricultural machines. The system comprises a six-axis inertial sensor and a central control unit. The six-axis inertial sensor comprises acceleration sensors in three directions and a three-axis gyroscope sensor. The central control unit comprises a coordinate conversion module, a speed position calculating module, an attitude matrix calculating module and an attitude calculating module. The invention further relates to a control method for the agricultural machines based on the strapdown inertial navitation system. According to the strapdown inertial navitation system and control method for the agricultural machines of the structure, the six-axis inertial sensor is adopted, the size is small, weight is low, the structure is simple, the cost performance is high, the system can be integrated into a control center of the agricultural machines conveniently through the modular design, meanwhile, the advantages of being stable in running, rich in output motion information and the like are achieved, control precision is high, especially the requirement of the agricultural machines and other ground vehicles for aided driving control is met, and the application range is wide.

Description

technical field [0001] The invention relates to the field of mechanical control, in particular to high-precision mechanical control, in particular to a strapdown inertial navigation system and a control method for agricultural machinery. Background technique [0002] With the development of MEMS (Micro-Electro-Mechanical-System) sensors, navigation and control technology and the further increase of the country's support for agriculture, precision agriculture is rapidly becoming a trend, and in the process of auxiliary driving control of agricultural machinery , the attitude (including pitch angle, roll angle and heading angle), speed and position information of the vehicle body can reflect the motion and position information of the vehicle body in real time, and these information can provide important data input for high-precision integrated navigation and control algorithms . [0003] In the process of assisted driving control of agricultural machinery, the position inform...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/16
Inventor 任强王杰俊沈雪峰戴文鼎
Owner SHANGHAI HUACE NAVIGATION TECH
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