Unmanned mowing vehicle outdoor navigation and control method based on GPS-RTK technology

A GPS-RTK, control method technology, applied in navigation, surveying and navigation, road network navigator and other directions, can solve the problems of poor real-time performance and low navigation and positioning accuracy, and achieve the effect of simplifying control difficulty and improving real-time performance and accuracy

Inactive Publication Date: 2016-06-29
JIANGXI HONGDU AVIATION IND GRP
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the disadvantages of low precision and poor real-time performance of the above-mentioned commonly used navigation and positioning, to establish an accurate positioning method suitable for use in open outdoor places, and to realize high-precision and real-time navigation services for unmanned lawn mowers

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  • Unmanned mowing vehicle outdoor navigation and control method based on GPS-RTK technology
  • Unmanned mowing vehicle outdoor navigation and control method based on GPS-RTK technology
  • Unmanned mowing vehicle outdoor navigation and control method based on GPS-RTK technology

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Embodiment Construction

[0020] Attached below figure 1 , 2 The present invention is described in detail:

[0021] (1) GPS-RTK construction scheme such as figure 1 As shown, the reference station is composed of a GPS receiver and a radio station transmitter, which are fixed at a high place, and the coordinate information of the base station is sent to the mobile station through the radio station in real time;

[0022] The mobile station consists of a dual-antenna GPS receiver and a radio receiver placed on the roof of the unmanned vehicle. The No. 1 satellite antenna is placed in the center of the rear axle of the vehicle, and the No. 2 satellite antenna is placed in the center of the front axle of the vehicle; the No. 1 antenna The direction pointing to the No. 2 antenna is the heading angle δ of the unmanned lawnmower;

[0023] (2) The data format output by the GPS receiver on the unmanned mowing vehicle is GPRMC data, including information such as position, heading and speed; the update frequenc...

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Abstract

The invention relates to an unmanned mowing vehicle outdoor navigation and control method based on the GPS-RTK technology and belongs to the technical field of mobile vehicle navigation and control. According to the unmanned mowing vehicle indoor navigation and control method based on the GPS-RTK technology, by means of the mode that GPS-RTK base stations and mobile stations are established, centimeter-level positioning data is acquired, and the navigation real-time performance and precision of an unmanned vehicle are greatly improved. Real-time position information and a planned route are subjected to contrast calculation, and a reasonable unmanned vehicle tracking algorithm is obtained. Meanwhile, the control difficulty of the unmanned mowing vehicle is simplified through establishment of a four-wheel drive front wheel steering type motion model.

Description

technical field [0001] The invention relates to an outdoor navigation and control method of an unmanned lawnmower based on GPS-RTK technology, and belongs to the technical field of mobile vehicle navigation and control. Background technique [0002] The unmanned lawnmower is a kind of weeding vehicle used in large grasslands. The unmanned lawn mower is a new type of intelligent vehicle, which can also be called a wheeled mobile robot. Among the related technologies of mobile robots, navigation technology and control technology are the core contents. Navigation refers to the fact that unmanned vehicles perceive the surrounding environment and their own state through sensors, and realize the goal-oriented autonomous movement. Navigation mainly solves three problems: 1) Obtain the position, direction and environment information of the unmanned vehicle in space through certain detection methods; 2) Process the acquired information with a certain algorithm and establish an envir...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3407
Inventor 周继强王丽峰张孝勇冯禹郑有胜徐望婷
Owner JIANGXI HONGDU AVIATION IND GRP
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