RTK-BDS定位的推土机推平作业实时辅助施工研究  

Real-Time Auxiliary Construction of Bulldozer Leveling Construction Based on RTK-BDS Positioning

作　　者：陈杰 罗吉庆 沈家栋 乔元虎 苗旋 宋胜利 CHEN Jie;LUO Jiqing;SHEN Jiadong;QIAO Yuanhu;MIAO Xuan;SONG Shengli(College of Field Engineering,Army Engineering University of PLA,Nanjing 210007,China;Army Engineering University of PLA,Nanjing 210007,China)

机构地区：[1]陆军工程大学野战工程学院,江苏南京210007 [2]陆军工程大学,江苏南京210007

出　　处：《陆军工程大学学报》2024年第3期86-92,共7页Journal of Army Engineering University of PLA

基　　金：军内科研项目(LJ2021Z010022)。

摘　　要：针对当前推土机在作业过程中操作复杂、施工效果评估困难等问题,基于北斗实时动态差分定位(real time kinematic,RTK)技术和运动学方程,求得推土机实时位置;提出了以推土高程和设计平面的高程差作为平整施工质量评价的方法,可直观评价施工效果,研制了驾驶引导装置,可实时显示推土机状态与施工进度。工程应用表明,该装置达到了厘米级的定位精度,定位的绝对误差小于5 cm,满足推土机精准施工的需求;车载显示终端使用RS232通信可精确获取推土机坐标、速度、航向等自身状态参数和施工数据。在实际施工场景中,该系统可有效减少驾驶员返工次数、降低劳动强度,提高了施工效率,达到了辅助施工的目的。Given the complexity of bulldozer operation and the difficulty of assessing the construction effect,the real-time position of the bulldozer is determined by means of the Real Time Kinematic Differential Positioning(RTK)of the Beidou System(BDS)and kinematic equations.The method of using the elevation difference between the bulldozed earth and the designed plane for evaluating the quality of leveling construction is proposed,which can intuitively evaluate the construction effect.A driving guidance device has been developed that can display the status of bulldozers and construction progress in real time.The engineering application demonstrates that this device's absolute positioning error is less than 5 cm,achieving centimeter-level positioning accuracy to fulfill the demand for precise bulldozer construction;and the vehicle-mounted display terminal,via RS232 communication,can accurately obtain the bulldozer's own state parameters and construction data,such as coordinates,speed,heading,and so on.In actual construction scenarios,this system can effectively reduce the number of reworks and the driver's labor intensity while also improving construction efficiency to fulfill the goal of auxiliary construction.

关 键 词：推土机 北斗系统 实时动态差分 辅助施工 

分 类 号：TN961[电子电信—信号与信息处理] P228.1[电子电信—信息与通信工程]