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A self-adaptive estimation method for landslide deviation in automatic driving of agricultural machinery

A self-adaptive estimation and automatic driving technology, applied in the field of data processing, can solve the problems that the influence of tractor dynamics cannot be predicted in advance, the decrease of control accuracy, and the system's poor adaptability to environmental changes, etc., so as to improve environmental adaptability, small calculation amount, Good real-time effect

Active Publication Date: 2021-03-23
NANJING TIANCHENLIDA ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the effect of sloping terrain on tractor dynamics cannot be predicted in advance without prior knowledge of the terrain
If these changes cannot be processed in time and accurately, it will lead to a decrease in control accuracy, or poor adaptability of the system to environmental changes.

Method used

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  • A self-adaptive estimation method for landslide deviation in automatic driving of agricultural machinery
  • A self-adaptive estimation method for landslide deviation in automatic driving of agricultural machinery
  • A self-adaptive estimation method for landslide deviation in automatic driving of agricultural machinery

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Experimental program
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Effect test

Embodiment approach

[0112] Step 1: Calculate the slope angle ζ

[0113] define vector with in is the unit vector of the target tracking trajectory, is the unit vector of body attitude Euler angles (roll, pitch and heading). The agricultural vehicle travels in the direction of the target tracking track, if there is no influence of the slope angle, then with should be coincident, i.e. Conversely, the slope angle is related to the cross product of these two unit vectors.

[0114] According to the target trajectory and body attitude angle with Unit vector, generally speaking, the target tracking trajectory is 2D, so p3 is generally not involved, so it can be calculated according to formula 9:

[0115]

[0116]

[0117] define vector

[0118]

[0119]

[0120] The second step: establish the kinematics model of the agricultural vehicle after discrete linearization according to formulas 5, 6, and 7.

[0121] Step 3: According to Formula 8, implement EKF filtering, and o...

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Abstract

The invention provides an adaptive estimation method for landslide deviation of automatic driving of an agricultural machine, and the method comprises the following steps: (1), calculating a slope angle and establishing a kinematic model after the discrete linearization of an agricultural vehicle; (2), performing EKF filtering after the discrete linearization of the above model; (3), outputting the processing results Psi, delta and d based on the EKF filtering described above, wherein Psi is heading deviation, delta is the steering angle of a front wheel, and d is the vertical distance from the position of the vehicle body to an expected path. The method provided by the invention can achieve the quick and accurate estimation of the heading angle and front wheel angle errors caused by the slope topographical changes, thereby improving the adaptability of a control algorithm to the terrain changes.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a method for adaptively estimating landslide deviation in automatic driving of agricultural machinery, and in particular to a method for processing terrain data with a certain slope in an automatic driving control system of agricultural machinery. Background technique [0002] With the development of MEMS (Micro-Electro-Mechanical-System) sensors, navigation and control technology and the further increase of the country's support for agriculture, precision agriculture is rapidly becoming a trend, and in the process of auxiliary driving control of agricultural machinery , the attitude (including pitch angle, roll angle and heading angle), speed and position information of the vehicle body can reflect the motion and position information of the vehicle body in real time, and these information can provide important data input for high-precision integrated navigation and control algorith...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 任强沈雪峰杨尹董光阳沈礼伟朱小琴
Owner NANJING TIANCHENLIDA ELECTRONICS TECH CO LTD