Measuring method and module for attitude of agriculture machinery vehicle

A technology of agricultural machinery and measurement modules, applied in directions such as navigation through speed/acceleration measurement, which can solve the problems of high cost of measurement equipment, low measurement accuracy, and dependence on satellite signals, etc., and achieve the effect of convenient secondary development and convenient integration

Inactive Publication Date: 2016-04-20
GUANGZHOU HI TARGET NAVIGATION TECH
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  • Abstract
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Problems solved by technology

[0004] One of the objectives of the present invention is to provide a vehicle attitude measurement module for agricultural machinery, which solves the problems of high cost of current measurement equipment, low measurement accuracy and dependence on satellite signals

Method used

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  • Measuring method and module for attitude of agriculture machinery vehicle
  • Measuring method and module for attitude of agriculture machinery vehicle
  • Measuring method and module for attitude of agriculture machinery vehicle

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Embodiment Construction

[0024] Below, in conjunction with accompanying drawing and specific embodiment, the present invention is described further:

[0025] Such as figure 1 As shown, the schematic diagram of the agricultural machinery vehicle attitude measurement module, the pitch angle is the angle between the X axis of the agricultural machinery vehicle coordinate system and the horizontal plane, and the roll angle is the Z axis of the agricultural machinery vehicle coordinate system and the X axis passing through the vehicle coordinate system The included angle between the vertical planes, and the heading angle is the included angle between the projection of the X-axis of the vehicle coordinate system on the horizontal plane and the X-axis of the ground coordinate system. that is figure 2 as shown, figure 2 The coordinates in are the coordinate system of the horizontal plane, the angle rotated with the X axis as the rotation axis is the roll angle, the angle rotated with the Y axis as the rot...

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Abstract

The invention provides a measuring module and method for the attitude of an agriculture machinery vehicle. The measuring module comprises a gyroscope, a magnetometer and an accelerometer, wherein the gyroscope, the magnetometer and the accelerometer are integrated on a circuit board. The gyroscope is used for measuring the angular velocity, the magnetometer is used for measuring the intensity of the earth magnetic field, and the accelerometer is used for measuring the acceleration. The acceleration can be regarded as a component of the acceleration of gravity under the static condition and the low dynamic condition, and the gradient of a plane can be determined; the heading can be obtained through fusion calculation of the gradient and the magnetometer, an attitude error and a gyroscope zero bias error are estimated through the Kalman filtering algorithm and corrected. According to the measuring module and method, the magnetometer, the accelerometer and the gyroscope are integrated on the circuit board at the same time, fusion calculation is carried out by combining the measured data of the gyroscope, the magnetometer and the accelerometer, the small attitude measuring module low in cost and high in accuracy is developed, the module with the complete attitude measuring function can be conveniently integrated into a larger project, and convenience is brought to secondary development.

Description

technical field [0001] The invention belongs to the field of posture measurement, and in particular relates to a method for measuring the posture of an agricultural machinery vehicle and a measurement module. Background technique [0002] The current vehicle attitude detection is mainly divided into two application scenarios, one is abnormal alarm, such as vehicle rollover detection; the other is high-precision navigation assistance, which is the field involved in the present invention. At present, the method to achieve high-precision attitude measurement is to install two satellite antennas side by side on the vehicle, and use the satellite receiver to measure the heading angle when it is stationary and in motion. At the same time, the gyroscope and accelerometer are used to calculate the roll angle and pitch of the vehicle. Angle, the two are combined to achieve the attitude measurement of the vehicle. The above method comes from the patent "Attitude measurement using asi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 薛柏慧李成钢许全君邓海峰
Owner GUANGZHOU HI TARGET NAVIGATION TECH
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