Kinematics estimation and deviation calibration method for crawler tractor
A calibration method and tractor technology, applied in the fields of motor vehicles, transportation and packaging, complex mathematical operations, etc., can solve the problems of poor control effect and low operation precision, and achieve the effects of reducing impact, high real-time performance, and improving automatic driving performance
Inactive Publication Date: 2019-09-20
NANJING TIANCHENLIDA ELECTRONICS TECH CO LTD
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[0005] The purpose of the present invention is to solve the problem of poor control effect and low operation precision caused by the interference of various factors in the actual operating environment of the crawler tractor. The present invention proposes a crawler tractor kinematics estimation and deviation of anti-interference factors Calibration method, the algorithm can quickly and accurately estimate the heading angle error caused by factors such as ground fluctuations and GNSS dual antenna installation deviations, and compensate the heading angle, thereby improving the control algorithm of the crawler tractor automatic driving control algorithm for various environments such as the ground Adaptability to Disturbing Factors
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[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.
[0066] Reference Figure 1-2 , A method for kinematics estimation and deviation calibration of a crawler tractor, including the following steps,
[0067] Step 1: Build a kinematic model of a crawler tractor:
[0068]
[0069]
[0070]
[0071] Among them, x is the east displacement coordinate component of the crawler tractor, y is the north displacement coordinate component, and v is the travel speed of the crawler tractor, Is the heading angle of the crawler tractor, and ω is the angular velocity of the crawler tractor body;
[0072] Step 2: Since the angular velocity of the left wheel, right wheel and the center of mass are equal when the cra...
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The invention discloses a kinematics estimation and deviation calibration method for a crawler tractor, which belongs to the technical field of agricultural machinery automatic driving. The method provided by the scheme comprises the steps that a kinematic model of the crawler tractor is constructed; in actual situation, due to the factors such as ground fluctuation variation and GNSS dual antenna installation deviation, heading angle deviation and worse path tracking effect are caused; to simplify the model, the heading angle deviation can be approximated as a certain value; an eastward displacement coordinate component, a northward displacement coordinate component, the tractor speed, a northward displacement coordinate component, the tractor speed and the tractor heading angle are used as system observations; and the constructed crawler tractor kalman filter model is a nonlinear model. According to the invention, the heading angle deviation caused by the ground fluctuation variation, the GNSS antenna installation deviation and the like can quickly and accurately estimated; the heading angle is compensated; and the adaptability of the system to the ground is improved.
Description
Technical field [0001] The invention relates to the technical field of automatic driving of agricultural machinery, in particular to a method for kinematics estimation and deviation calibration of a crawler tractor. Background technique [0002] With the rapid development of GNSS high-precision satellite navigation and positioning technology, automatic driving and information technology, modern agriculture is gradually developing in the direction of digital agriculture and precision agriculture. As a commonly used agricultural equipment, tractors are of great significance to the development of precision agriculture with their informatization and intelligence. [0003] Tractors can be divided into wheel tractors and crawler tractors according to the walking mode. Compared with wheeled tractors, crawler tractors have the advantages of large contact surface, low ground pressure, good traction adhesion performance, and not easy to slip. They are more suitable for working in relatively...
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IPC IPC(8): G05D1/02G05D1/08G06F17/12G06F17/13G06F17/16
CPCG05D1/021G05D1/0223G05D1/0278G05D1/0891G05D2201/0201G06F17/12G06F17/13G06F17/16
Inventor 孙飞王海晶史志中芦海涛刘军
Owner NANJING TIANCHENLIDA ELECTRONICS TECH CO LTD
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