Double-antenna navigation walking route deviation rectification system

Abstract

The invention discloses a double-antenna navigation walking route deviation rectification system. A first Beidou navigation antenna and a second Beidou navigation antenna are installed on the left side and the right side of the center line of a vehicle, the distance between the first Beidou navigation antenna and the center line is a first distance, and the distance between the second Beidou navigation antenna and the center line of the vehicle is a second distance. The positions of the first Beidou navigation antenna and the second Beidou navigation antenna are positioned in real time; a first positioning distance from the first Beidou navigation antenna to the planned walking route according to the positioning position data of the first Beidou navigation antenna is calculated, and a second positioning distance from the second Beidou navigation antenna to the planned walking route according to the positioning position data of the second Beidou navigation antenna is calculated; the first positioning distance is compared with the first distance, the second positioning distance is compared with the second distance, and the driving direction of the vehicle is corrected in time according to the compared deviation, so that the center line of the vehicle walks along the planned walking route. The vehicle operation precision is improved, and it is guaranteed that the center line of the vehicle always walks on the planned walking route.

Description

technical field [0001] The invention relates to the field of agricultural machinery, in particular to a dual-antenna navigation and walking route deviation correction system. Background technique [0002] Foreign unmanned tractors have been researched on the automatic driving of agricultural vehicles earlier. In the 1970s, many engineers conducted research on the automatic navigation of farmland machinery. In the 1980s, because the efficiency of agricultural machinery such as tractors and combine harvesters was already very high for general farming and harvesting operations, the main research on these operating machinery was unmanned driving, autonomous walking and other issues, focusing on In terms of information collection, processing, transmission and control of machine working parts, there are already mature product applications. [0003] Extensive research has also been done domestically, and certain results have been achieved. Such as invention patent - tractor autom...

AI Technical Summary

Problems solved by technology

However, most of the existing technologies use GPS+steering angle sensor feedback, which needs to improve the steering of the front wheels of the tractor, resulting in increased errors

There is no literature report on the deviation correction method of the dual-antenna navigation walking route based on the Beidou system

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