低速智能农业车辆多分辨率自适应测速系统设计  

Design of Multiresolution Adaptive Speed Measurement System for Low-speed Intelligent Agricultural Vehicle

作　　者：田光兆[1] 安秋[1] 姬长英[1] 顾宝兴[1] 王海青[1] 赵建东[1] 

机构地区：[1]南京农业大学工学院,南京210031

出　　处：《农业机械学报》2013年第2期159-164,共6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(2006AA10Z259);中央高校基本科研业务费资助项目(KYZ201006);南京农业大学青年科技创新基金资助项目(KJ09030)

摘　　要：根据智能化农业车辆低速工作的特点,采用CAN总线通信技术和多线程技术,设计并实现了基于脉冲式多普勒雷达的智能测速系统。通过速度分级和可变滑窗灰色预测,为系统建立了多分辨率自适应机制,在保证测量精度的同时降低其对系统资源的消耗。试验表明:启动分辨率自适应机制后,车辆速度为0.2 m/s时,测量平均误差为1.45%,分辨率发生器工作频率降低76.7%;车辆速度为0.8 m/s时,测量平均误差降低到0.61%,分辨率发生器工作频率降低90.0%。变速运动过程中,能够获得9.6 Hz的稳定输出频率,同时大幅降低分辨率发生器工作频率。A pulse Doppler radar based real-time speed measurement system was designed by using CAN bus communication technology and multithreading technology according to the low speed characteristic of intelligent agricultural vehicle.In order to obtain a high precision result with the least system resource consumption,the multiresolution adaptive policy was designed by dividing speed level and variable sliding-window gray prediction.Experiments showed that the average error was 1.45% and the working frequency of resolution generator was reduced by 76.7% after adaptive policy started when the speed of vehicle was 0.2 m/s.The average error was 0.61% and the working frequency of resolution generator was reduced by 90.0% after policy started when the speed of vehicle was 0.8 m/s.The output frequency of system was steady 9.6 Hz and the frequency of resolution generator was dramatically reduced during variable speed movement.

关 键 词：农业车辆 多普勒雷达 多分辨率 自适应测速 CAN总线 可变滑窗灰色预测 

分 类 号：S219.1[农业科学—农业机械化工程] TN953.1[农业科学—农业工程]