基于多传感器融合的水田耕作机械定位系统  

Design of Paddy Field Working Machine Orientation System Based on Multi-sensor Fusion Technology

作　　者：罗亚辉[1] 蒋蘋[1] 胡文武[1] 

机构地区：[1]湖南农业大学工学院,长沙410128

出　　处：《农机化研究》2010年第4期151-154,185,共5页Journal of Agricultural Mechanization Research

基　　金：湖南省科学计划重点项目(2006NK2018);湖南农业大学稳定人才基金(04WD02)

摘　　要：为了实现南方水田耕作机械的自动驾驶,降低劳动强度,提高工作效率,采用多传感器融合技术,利用编码盘进行绝对距离测量,融合加速度传感器进行误差补偿;利用电子罗盘进行绝对角度的测量,通过角速度传感器补偿电子罗盘定位误差。为此,以单片机为中央处理芯片,设计了一套用于南方水田耕作机械的定位系统。野外试验表明,该定位系统能实时地对作业中的水田耕作机械进行定位。在60m长度内,直线精度达到50cm以内,方位偏转角精度达到1°以内,能满足其定位要求。In order to reduce labor intensity, improve efficiency and realize autopilot fields, using the MCU as the central processing unit, a orientation system integrated of the cultivation machinery in paddy with multi - sensor fusion technology is designed, in which the absolute distance is measured by coding disc , whose error is compensated by acceleration sensor and the absolute angle is measured by electronic compass , whose positioning error is compensated by angular velocity sensor. The field experiment shows that the orientation system can locate the machine woking in the paddy field in real time. Within 60m, the straight - line accuracy is less than 50cm, azimuth angle accuracy is less than 1°, which can meet the position requirement.

关 键 词：水田耕作机械 定位 编码测距 电子罗盘 多传感器 

分 类 号：S233.71[农业科学—农业机械化工程] TP212[农业科学—农业工程]