基于卡尔曼滤波融合算法的播深检测装置设计  

Design on broadcast depth detection device based on Kalman filter fusion algorithm

作　　者：樊立萍 马建军 FAN Liping;MA Jianjun(Department of Information Engineering,Shenyang University of Chemical Technology,Liaoning Shenyang 110142,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142

出　　处：《工业仪表与自动化装置》2024年第4期7-12,共6页Industrial Instrumentation & Automation

基　　金：辽宁省科学技术计划项目——保护性耕作农机装备研发(2022JH1/10400017)。

摘　　要：针对免耕播种机工作时秸秆残茬影响播深检测有效性的问题,设计了一种采用了双路面阵雷达传感器和卡尔曼滤波融合算法的播种深度测量装置。面阵雷达利用渡越时间法测量播种深度,然后使用卡尔曼滤波融合算法消除两路传感器数据中的噪声与杂波,并将处理后数据进行融合。试验表明,在预设播深为60 mm,播种机行驶速度分别为低速(4 km/h)、中速(6 km/h)、高速(8 km/h)三种速度时,传感器测量距离的最大偏差为23 mm,34 mm,37 mm,经过滤波处理后误差为4 mm,7 mm,13 mm,再经过卡尔曼滤波融合算法后能够在预设播深60 mm上下范围浮动,试验表明经过滤波融合后的检测数据比单个面阵雷达传感器更能准确地检测播种深度,且随着速度的增加波动范围也相应增大。原因可能与车速增快时播种机在不平整地面上的波动增大有关。A seeding depth measurement device using dual road array radar sensors and Kalman filtering fusion algorithm was designed to address the issue of straw residue affecting the effectiveness of seeding depth detection during the operation of a no-till planter.The surface array radar uses the transit time method to measure the sowing depth,and then uses the Kalman filter fusion algorithm to eliminate noise and clutter in the two-sensor data,and fuses the processed data.Experiments have shown that when the preset sowing depth is 60 mm and the driving speed of the seeder is low speed(4 km/h),medium speed(6 km/h),and high speed(8 km/h),the maximum deviation of the sensor measurement distance is 23 mm,34 mm,and 37 mm.After filtering,the errors are 4 mm,7 mm,and 13 mm.After being fused with the Kalman filtering algorithm,it can float within the range of the preset sowing depth of 60 mm.The experiment shows that the detection data after filtering fusion can more accurately detect the sowing depth than a single array radar sensor,and the fluctuation range also increases with the increase of speed.The reason may be related to the increased fluctuation of the seeder on uneven ground when the vehicle speed increases.

关 键 词：播深检测装置 免耕播种机 面阵雷达 卡尔曼滤波融合算法 

分 类 号：TP335[自动化与计算机技术—计算机系统结构]