基于GNSS的农业机械定位与姿态获取系统  

Agricultural Machinery Positioning and Attitude Acquisition System Based on GNSS

作　　者：张健[1] 李鹏昆 匡军[1] 员玉良[1] ZHANG Jian;LIN Pengkun;KUANG Jun;YUN Yuliang(College of Mechanical and Electrical Engineering,Qingdao Agricultural University,Qingdao Shandong 266109,China)

机构地区：[1]青岛农业大学机电工程学院

出　　处：《电子器件》2019年第6期1481-1486,共6页Chinese Journal of Electron Devices

基　　金：山东省重点研发计划项目(2018GNC112009);青岛市源头创新计划(19-6-2-66-cg);青岛农业大学高层次人才启动基金(1116003,1116004);山东省农机装备研发创新计划项目(2018YF008-09,2018YZ002)

摘　　要：精准定位与姿态信息是农业机械导航的基础,准确获取导航投影点是自动导航的关键。以K728 GNSS板卡为定位板卡,ADIS16445陀螺仪为姿态传感器,研制了农业机械定位与姿态获取系统。系统以STM32F407ZGT6为CPU对GNSS板卡输出信息进行解包;采用卡尔曼滤波与加权融合技术获取姿态信息;以坐标转换理论计算导航投影点;采用CAN总线输出姿态和导航投影点定位信息。试验结果表明:导航平面坐标系下定位精准度小于1 cm,姿态测量平均误差小于0.3°,满足农业机械导航要求。Accurate positioning and attitude information are the basis of realization of agricultural machinery navigation system.The accurate coordination information of navigation projection point is the key of precision automatic navigation.Taking K728 as GNSS positioning board,ADIS16445 gyroscope as attitude sensor,the positioning and attitude acquisition system for agricultural machinery was developed.The system uses STM32F407ZGT6 as CPU to unpack GNSS board output information.The course/roll attitude information is obtained by Kalman filtering and weighted fusion algorithm.The coordinate information of navigation projection point is calculated based on coordinate transformation theory.All these valuable information are transmitted external device by CAN bus.The experimental results show that:The positioning accuracy in the navigation plane coordinate system is less than 1cm,the mean error of attitude measurement is kept within 0.5%.These result meet the positioning requirements of agricultural machinery navigation.

关 键 词：自动导航 精准定位 GNSS板卡 ADIS16445陀螺仪 卡尔曼滤波 CAN总线 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]