基于置信度加权的拖拉机组合导航融合定位方法  

Fusion Positioning Method Based on Weighted-confidence for Tractor Integrated Navigation

作　　者：朱忠祥[1] 韩科立[2] 宋正河[1] 谢斌[1] 毛恩荣[1] 

机构地区：[1]中国农业大学现代农业装备优化设计北京市重点实验室,北京100083 [2]中国农业机械化科学研究院,北京100083

出　　处：《农业机械学报》2013年第S1期210-215,223,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)资助项目(2013AA100307);中央高校基本科研业务费专项资金资助项目(2013QJ018)

摘　　要：针对拖拉机在田间复杂工作环境中可能遇到因异常波动或传感器信息丢失而造成定位失败或偏差过大的问题,设计了一种基于置信度加权的多传感器融合定位系统,该系统主要由GPS定位系统和航位推算(DR)系统组成,并基于联邦Kalman滤波设计了相应的子滤波器以及全局滤波器。同时,基于各传感器的置信距离与置信度函数计算得到各子滤波器的置信度,并将其进行加权运算后作为自适应因子,在全滤波器中进行最优融合,得到更准确的位姿估计。最后通过计算机仿真和田间试验验证了该方法的有效性和可靠性。According to the problem of location failure or large deviation probably generated on account of sensor information loss or abnormal fluctuation when the tractor worked in the complicated field environment,a multi-sensor fusion positioning system based on the weighted-confidence was designed,which composed of global position system and dead reckoning system.The corresponding sub-filter and the global filter were constructed based on the federated Kalman filtering.Then the confidence distance and confidence function of every sensor was defined to compute the confidence coefficient of each subfilter,which was used as adaptive factor after weighted arithmetic.Finally,the adaptive factors were fused optimally in the global filter to get more accurate position estimates.The computer simulation and field test were carried out to validate the effectiveness and reliability of the designed multi-sensor fusion positioning system.

关 键 词：自动导航拖拉机 组合导航 置信度加权 融合定位 

分 类 号：S219[农业科学—农业机械化工程] TN967.2[农业科学—农业工程]