农用车辆自动导航定位方法  

Positioning method for automatic navigation of agricultural vehicle

作　　者：张漫[1] 周建军[1] 籍颖[1] 陈艳[1] 刘春红[1] 刘刚[1] 

机构地区：[1]中国农业大学现代精细农业系统集成重点实验室,北京100083

出　　处：《农业工程学报》2009年第S2期74-77,共4页Transactions of the Chinese Society of Agricultural Engineering

摘　　要：农用车辆自动导航技术可有效提高作业精度、实现农田规模化生产。该文以电瓶车为试验平台,使用RTKDGPS、RTDGPS和电子罗盘分别采集电瓶车的位置信息和航向角度信息,对农用车辆的导航定位方法进行了研究。试验时,以RTKDGPS采集的数据作为标准轨迹。在对试验数据进行空间配准后,采用Kalman滤波技术对RTDGPS和电子罗盘的数据进行了融合;通过计算综合权重值,对单GPS系统和融合系统的性能进行测试与评估,其值分别为0.006、0.002。由此可知,采用Kalman滤波的电子罗盘和RTDGPS的组合导航系统,定位精度相对较高,稳定性较好,整体性能优于单GPS系统。Automatic navigation technology for agricultural vehicle can improve position accuracy of the vehicle effectively and realize large-scale production of cropland.An electric bicycle was adopted as experimental platform and system performance with two positioning methods of automatic navigation respectively was analyzed,the one was GPS positioning method and the other was the method based on a fusion of two data source(RTD DGPS and digital compass)by Kalman filter.RTK DGPS and RTD-DGPS were equipped on the vehicle to collect position data,and the data of RTK DGPS was used as standard trajectory.Synthesized weighting values were calculated,which were 0.006 and 0.002 for the GPS positioning method and the fusion method by Kalman filter respectively.The results showed that the fusion method by Kalman filter had a higher accuracy and a better stability than GPS positioning method.

关 键 词：农业 车辆 导航 KALMAN滤波器 测试 评估 

分 类 号：S229.1[农业科学—农业机械化工程]