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Agricultural machinery roll angle test method based on double antenna GNSS (global navigation satellite system) receiver/gyroscope information fusion

A test method and dual-antenna technology, applied in radio wave measurement system, satellite radio beacon positioning system, navigation through speed/acceleration measurement, etc. requirements and other issues, to achieve the effect of good dynamic performance, cost saving, stable and accurate control

Inactive Publication Date: 2017-05-31
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to overcome the white noise of the roll angle of the agricultural machinery output by the dual-antenna GNSS receiver in the prior art, which cannot meet the accuracy requirements of the tilt correction of the agricultural machinery, and to provide a dual-antenna GNSS receiver / gyroscope based on information fusion. Test method for roll angle of agricultural machinery

Method used

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  • Agricultural machinery roll angle test method based on double antenna GNSS (global navigation satellite system) receiver/gyroscope information fusion
  • Agricultural machinery roll angle test method based on double antenna GNSS (global navigation satellite system) receiver/gyroscope information fusion
  • Agricultural machinery roll angle test method based on double antenna GNSS (global navigation satellite system) receiver/gyroscope information fusion

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Embodiment

[0049]The agricultural machine used in this embodiment is the Lovol M904-D wheeled tractor, and the equipment or devices used mainly include: Sinan K528 dual-antenna GNSS receiver, dual-antenna fixed bracket and miniature attitude reference system AHRS. Such as figure 2 Shown is a schematic diagram of the equipment installation structure of the embodiment of the present invention, establishing a vehicle body coordinate system for the wheeled tractor 1. The vehicle body coordinate system Oxy is defined as taking the position of the center of mass of the vehicle body as the origin O, the horizontal axis x points to the forward direction of the vehicle body, and the vertical axis x points to the forward direction of the vehicle body. The axis y is perpendicular to the horizontal axis and points to the left side of the forward direction of the vehicle body. The double-antenna fixing bracket 2 is a rectangular steel pipe with a length of not less than 1.3m, which is installed on t...

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Abstract

The invention discloses an agricultural machinery roll angle test method based on double antenna GNSS (global navigation satellite system) receiver / gyroscope information fusion. The white noise of the roll angle measured by a double antenna GNSS receiver is great, and the roll angle cannot be easily and directly used for agricultural machinery posture correction. The gyroscope output data is stable; the short-time stability is high, but the long-period precision is poor. A Kalman filter is used for performing fusion processing on the roll angle obtained by the double antenna GNSS receiver and the roll angular velocity obtained by a gyroscope; the precise estimation of the agricultural machinery roll angle is obtained. The method has the advantages that more continuous and stable agricultural machinery roll angle data can be formed, so that the tilt correction of the agricultural machinery is more precise.

Description

technical field [0001] The invention relates to the field of attitude measurement of agricultural machinery, in particular to a method for testing roll angle of agricultural machinery based on dual-antenna GNSS receiver / gyroscope information fusion. Background technique [0002] Automatic navigation of agricultural machinery is a core key technology in the precision agricultural technology system, which is widely used in agricultural production processes such as farming, sowing, fertilizing, spraying, and harvesting. The automatic navigation control of agricultural machinery is mainly to control the lateral position deviation of the bottom of the agricultural machine, that is, to control the agricultural machine to track the pre-planned operation path, so that the lateral position deviation between it and the path is kept within a certain range of accuracy, so as to meet the requirements of agricultural machinery. production needs. In the automatic navigation path tracking ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47G01S19/41G01C21/18G01C21/00
CPCG01S19/47G01C21/005G01C21/18G01S19/41
Inventor 张智刚王辉罗锡文刘兆鹏黄培奎张健高维炜林志健
Owner SOUTH CHINA AGRI UNIV
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