GNSS/INS/vehicle integrated navigation method for agricultural machinery operation

Abstract

The invention provides a GNSS / INS / vehicle integrated navigation method for agricultural machinery operation in the technical field of navigation. The method comprises the following steps: S1, inertial navigation calculation is carried out after correction of zero offset of an inertial measurement unit (IMU), and a state transition matrix and a system covariance matrix are calculated through Kalman filtering; S2, whether GNSS information is updated is judged; if the GNSS information is updated, the GNSS information is extrapolated, filtering estimation is carried out by taking the position and speed differences between INS and GNSS as observations, the dynamic condition of the carrier is judged, correction platform error and IMU zero offset error are fed back, and the method returns to S1 for loop execution; or, the current information is the position, speed and attitude information of the carrier; and S3, whether vehicle information is updated is judged; if the vehicle information is updated, the vehicle information is extrapolated, filtering estimation is carried out by taking the speed difference between INS and the vehicle as an observation, and correction platform error and IMU zero offset error are fed back; or, the current information is the position, speed and attitude information of the carrier. The method has high navigation accuracy, and can achieve high navigation accuracy with a low-cost IMU.

Description

Technical field [0001] The invention relates to an automatic U-turn path planning and a control method thereof, in particular to a GNSS / INS / vehicle integrated navigation method used for agricultural machinery operations. Background technique [0002] With the development of agricultural automation, the popularization of national preferential agricultural policies and the increasing proportion of farmers’ aging population, precision agriculture has gradually become an international research hotspot. The popularization of precision agriculture can free hands, improve work efficiency, provide land utilization, and timely sowing and harvesting. Save seeds and other inputs to achieve the goal of reducing labor, reducing input, and increasing output. [0003] Among the existing navigation systems, the most commonly used technology is a satellite integrated navigation system designed based on the GNSS / INS integrated navigation method. The system includes an inertial measurement unit and a...

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Problems solved by technology

[0004] Aiming at the defects in the prior art, the purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, solve the technical problem of poor navigation accuracy in complex environments such as signal occlusion in the prior art, and provide a GNSS / INS / vehicle integrated navigation method, the navigation accuracy of the present invention is high, the requirement for IMU itself is low, and the cost is low

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