林业机器人组合导航数据处理方法  

Processing method of integrated navigation data for forestry robot

作　　者：郑加柱[1] 石杏喜[2] 陈红华[1] 

机构地区：[1]南京林业大学土木工程学院,江苏南京210037 [2]南京理工大学理学院,江苏南京210094

出　　处：《南京林业大学学报（自然科学版）》2014年第2期128-132,共5页Journal of Nanjing Forestry University：Natural Sciences Edition

基　　金：江苏省测绘科研项目(2012013)

摘　　要：基于单基站DGPS/DR组合导航,分析林业机器人运动规律,根据其运动方程非线性和导航数据线性的特点,提出采用比例无迹变换线性化运动方程和广义卡尔曼滤波处理综合组合导航数据。阐述了此方法的完整处理过程,并仿真分析比较了此处理方法与其他方法的效果。结果表明,此方法不损失定位精度,且求解速度快、可靠性好。In this paper, the motion law of forestry robot was analyzed based on integrated navigation of the single station DGPS and DR. According to the characteristics of nonlinear motion equations and linear navigation data, the scaled un-scented transformation was used to linearize the equations of motion, and then extended Calman filter was used to process integrated navigation data. This paper describes handling process, and simulates the results of this method, and compare with other methods. The results showed that this method had a high speed of solving and good reliability, and did not loss the location accuracy.

关 键 词：DGPS DR组合导航 林业机器人 比例无迹变换 广义卡尔曼滤波 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] S778[自动化与计算机技术—计算机科学与技术]