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Sideslip angle estimation method and estimator suitable for agricultural machinery linear navigation

A technology for agricultural machinery and angle estimation, which is applied in the field of vehicle navigation and tracking, and can solve the problems of lack of sensors, difficulty in obtaining the sideslip angle, and poor path tracking accuracy.

Active Publication Date: 2020-06-05
QINGDAO AGRI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The automatic navigation path tracking algorithm of agricultural machinery mostly relies on the vehicle dynamics model, in which the side slip angle is one of the parameters in the vehicle dynamics model. Due to the lack of direct measurement sensors on the contact surface between the tire and the land when the side slip occurs, the side slip The angle is difficult to obtain, and most of the current automatic navigation path tracking algorithms for agricultural machinery ignore the influence of the sideslip angle, resulting in poor path tracking accuracy in the process of paddy field operation machinery

Method used

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  • Sideslip angle estimation method and estimator suitable for agricultural machinery linear navigation
  • Sideslip angle estimation method and estimator suitable for agricultural machinery linear navigation
  • Sideslip angle estimation method and estimator suitable for agricultural machinery linear navigation

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Embodiment 1

[0058] Embodiment 1, a side-slip angle estimation method suitable for straight-line navigation of agricultural machinery, specifically includes the following steps:

[0059] Step S1. During the running process of the agricultural machine, collect the front wheel steering angle information of the agricultural machine, as well as the forward speed information, antenna positioning information and current attitude information of the agricultural machine, and perform corresponding analysis and processing;

[0060] Step S2, constructing the dynamic equation of the agricultural machinery and using it as the system state equation, based on the state observer theory to realize the estimation of the sideslip angle during the straight-line navigation path tracking process, specifically:

[0061] (1) According to the antenna positioning information and current attitude information of the agricultural machinery collected in step S1, analyze and obtain the comprehensive error signal ε(j) at ...

Embodiment 2

[0086] Embodiment 2, based on the estimation method proposed in Embodiment 1, this embodiment proposes a sideslip angle estimator suitable for straight-line navigation of agricultural machinery. The automatic navigation system of agricultural machinery is equipped with vehicle front wheel wheel angle sensors 1 and GNSS Locating orienting device 2, such as figure 1 As shown, the front wheel steering angle analog value output by the front wheel angle sensor 1 passes through the A / D converter 3 and the first digital filter 4 and then outputs the digital value δ(j) of the front wheel steering angle at j moment; the first digital The filter 4 realizes the filtering of the A / D converted signal of the wheel angle sensor, which is mean value filtering. Define the number of filtering points of mean filtering as N, the sampling interval of AD conversion as Δt, and the system control period as T s , in order to ensure the normal operation of the system, the number of mean filter points ...

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Abstract

The invention discloses a sideslip angle estimation method and estimator suitable for agricultural machinery linear navigation, and the method comprises the steps: collecting front wheel steering angle information, the advancing speed information of agricultural machinery, antenna positioning information and current posture information, and carrying out the analysis and processing of the front wheel steering angle information, the advancing speed information and the current posture information; achieving estimation of the sideslip angle based on the state observation theory, adopting a first estimator, a second estimator and a third estimator to achieve estimation of vehicle body course deviation, position deviation and sideslip angle information, using integration for replacing differentiation in the analysis process, and avoiding the amplification effect of differential operation on errors. Moreover, the sideslip angle is obtained; course deviation and position deviation estimation is completed; the estimator has a filtering function, the problems of large acquisition error deviation of the course deviation, and position deviation and the like caused by positioning information updating delay are solved, reference is provided for an agricultural machinery automatic navigation path linear tracking algorithm, and support is provided for improving agricultural machinery automaticnavigation path tracking precision under the sideslip condition.

Description

technical field [0001] The invention belongs to the field of vehicle navigation tracking, and in particular relates to a sideslip angle estimation method and an estimator suitable for linear navigation of agricultural machinery. Background technique [0002] With the improvement of the automation level of agricultural machinery, the automatic navigation technology of agricultural machinery has been paid more and more attention, especially in the dry field operations in Northeast my country and Xinjiang, and its application is becoming more and more mature and perfect. According to the characteristics of crop cultivation, the accuracy requirements of the agricultural machinery navigation system for straight-line path tracking are much higher than those of other types of navigation vehicles. However, unlike the continuous improvement of automatic navigation technology for agricultural machinery in dry fields, due to the influence of factors such as uneven hard substrates in pa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/47G01S19/53
CPCG01C21/165G01S19/53G01S19/47A01B69/008G05D1/0212G05D2201/0201G05D1/0278G01S19/52G01S19/48G01S19/14B62D15/021G05D1/0088G05D1/0223G05D1/0891
Inventor 张健杨然兵
Owner QINGDAO AGRI UNIV