基于Kalman滤波的田间导航车辆定位校正方法研究  

Positioning Correction Method Based on Kalman Filter for Agricultural Vehicle

作　　者：黎永键[1] 赵祚喜[2] 

机构地区：[1]广东农工商职业技术学院,广东广州510507 [2]华南农业大学工程学院,广东广州510642

出　　处：《农业装备与车辆工程》2011年第9期3-9,共7页Agricultural Equipment & Vehicle Engineering

基　　金：国家"863"计划项目(2006AA10A304);国家"863"计划专题(2006AA10Z255);精准农业智能关键装备技术引进与创新(2011-G32)

摘　　要：以装载了RTK-DGPS导航系统的KUBOTASPU-68水田插秧机为试验平台,以姿态测量系统提供载体姿态信息,研究农业机械导航的姿态校正方法。在分析车载GPS倾斜误差产生原因基础上,提出了采用多传感器联合测量载体姿态角以提供校正信息。采用MEMS传感器集成模块ADIS16355作为惯性测量单元,卡尔曼滤波实现传感器信息融合以计算姿态角,设计了姿态测量系统。阐述了两种传感器融合测量实时姿态角的算法,基于ARM7Cotex-M3微处理器设计了姿态测量系统硬件。An automatic guidance system was developed on KUBOTA SPU-68 rice transplanter using Trimble 5700 RTK-DGPS and attitude measurement system.GPS positioning data was corrected using the heading,roll and pitch parameters acquired from attitude measurement system.The design of attitude measurement system is presented,among which their main features are：monitoring the attitude angles by fusing one tri-axial accelerometer and one tri-axial gyroscope integrated in ADIS16355;one kalman filter is then designed as sensor data fusion method for measuring real-time attitude angles.Finally,the test result showed that the proposed positioning and orientation evaluation algorithm could eliminate the effects of uneven field condition on GPS positioning.

关 键 词：定位校正 MEMS惯性传感器 KALMAN滤波 传感器融合 

分 类 号：S223.91[农业科学—农业机械化工程]