Agricultural machinery automatic navigation control method based on double-antenna GNSS (Global Navigation Satellite System) and preview tracking model
A technology of automatic navigation and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of complex and uncertain system of agricultural machinery navigation control system, etc., to reduce costs, improve adaptability, improve fast effect
Active Publication Date: 2017-11-03
SOUTH CHINA AGRI UNIV
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Problems solved by technology
Due to the complexity of the agricultural machinery itself, the farmland environment such as soil, and the uncertainty of the agricultural machinery load, the agricultural machinery navigation control system is a complex uncertain system.
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[0045] The agricultural machine used in this example is Lovol M904-D wheeled tractor, and its navigation system mainly includes: reference station and data link, Sinan K528 dual-antenna GNSS board, dual-antenna fixed bracket, embedded development board and display terminal; Such as figure 2 Shown is a schematic diagram of GNSS antenna installation according to an embodiment of the present invention. A vehicle body coordinate system is established 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 y is perpendicular to the horizontal axis and points to the left side of the forward direction of the car 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 the top of the tractor cab directly above the ce...
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The present invention discloses an agricultural machinery automatic navigation control method based on a double-antenna GNSS (Global Navigation Satellite System) and a preview tracking model. According to the method, a clock-shared integrated dual-antenna GNSS receiver supporting multi-satellite system carrier phase difference technique is used for performing positioning and attitude measurement of agricultural machinery; and a piecewise adaptive foresight distance related to speed is adopted as a parameter in a preview tracking model, so that path tracking control can be performed on the agricultural machinery. A positioning board card supporting the multi-satellite system carrier phase difference technique can effectively increase the number of satellites participating in positioning calculation and improve the precision and stability of navigation and positioning; navigation satellite system-based inertial navigation attitude measurement can improve the accuracy and real-time performance of the attitude measurement of the agricultural machinery; the design and simulation of driving behaviors of a user by the preview tracking model algorithm have predictability, and therefore, a path tracking control effect is good, the quickness and stability of the launch of the agricultural machinery and the adaptability of the agricultural machinery to compacted field road conditions can be improved; and the foresight distance is related to speed, and therefore, the control accuracy and stability of an agricultural machinery automatic navigation system in relatively high-speed operation can be improved.
Description
technical field [0001] The invention relates to an agricultural machinery positioning attitude measurement and automatic navigation control method, in particular to an agricultural machinery automatic navigation control method based on a dual-antenna GNSS and a preview tracking model, belonging to the field of agricultural machinery GNSS automatic navigation. Background technique [0002] As a core key technology of precision agriculture, automatic navigation of agricultural machinery is widely used in agricultural production processes such as farming, sowing, fertilizing, spraying, and harvesting. In the agricultural machinery automatic navigation system, the agricultural machinery position attitude measurement method and the navigation path tracking control method are the two core technologies of the agricultural machinery navigation system. At present, in agricultural machinery navigation systems, RTK-GPS with centimeter-level positioning accuracy is widely used. Compare...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张智刚王辉罗锡文刘兆鹏张健黄培奎林志健高维炜岳斌斌
Owner SOUTH CHINA AGRI UNIV
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