基于RTK和IMU的多行播种定位系统研究  

Research on multi-row sowing positioning system based on RTK and IMU

作　　者：张昱婷 张康宁 滕桂法[1,2,4] 么炜 ZHANG Yuting;ZHANG Kangning;TENG Guifa;Yao Wei(School of Information Science and Technology,Hebei Agricultural University,Baoding 071000,Hebei,China;Hebei Key Laboratory of Agricultural Big Data,Baoding 071000,China;School of Computer and Information Technology,Cangzhou Trasportation College,Cangzhou 061193,China;Hebei Digital Agriculture Industry Technology Research Institute,Baoding 071000,China)

机构地区：[1]河北农业大学信息科学与技术学院,河北保定071001 [2]河北省农业大数据重点实验室,河北保定071001 [3]沧州交通学院计算机与信息技术学院,河北沧州061193 [4]河北省数字农业产业技术研究院,河北保定071001

出　　处：《河北农业大学学报》2024年第4期92-100,共9页Journal of Hebei Agricultural University

基　　金：河北省高等学校科学技术研究青年基金项目(QN2021077).

摘　　要：在耕种过程中,为了保持株距行距一致性、使作物长势均匀,提高后续管理便捷性,以及提高粮食产量,需要精确记录植株空间位置分布信息。为提高植株位置定位精度,本研究设计1种基于双天线RTK和IMU的多行精播机播种定位系统,利用RTK/IMU组合定位方式检测系统定位坐标及航向,通过落种检测模块判断落种状态,完成落种数据提取以及定位数据的采集,并设计了基于双天线RTK和IMU的播种定位算法,结合卡尔曼滤波融合算法获取播种机位置和姿态,根据排种机构与RTK天线及IMU相对位置,设计基于相对排种器位置模型的落种位置解算算法,实现各排种单体落种位置实时解算。实验表明系统在进行直线播种时作业速度在7 km/h以内或在进行弯道播种时作业速度在3 km/h以内时,能准确测量落种位置,均方根误差均小于30 mm,可以满足在精密播种过程中对落种位置预测精度的要求。During the cultivation process,it is necessary to accurately record the spatial distribution information of plants in order to maintain the consistency of plant spacing and row spacing,ensure uniform growth,and to improve the convenience of subsequent management and increase yield.Based on the spatial position information of the plant,a data basis can be provided for the subsequent intelligent management of the field.To improve the plant location positioning accuracy,a multi-row precision seeding positioning system was designed based on dual-antenna RTK and IMU.The RTK/IMU combination positioning method was utilized to detect the system positioning coordinates and heading.The seed dropping detection module was combined to complete the acquisition of the seed dropping data as well as the positioning data.Moreover,a seeding position algorithm was designed based on the dual-antenna RTK and IMU that were used to acquisite the position and attitude of the planter combining with the Kalman filter fusion algorithm..In line with the relative position of the rowing mechanism with the RTK antenna and IMU,the seeding position algorithm based on the relative rower position model was designed to realize the real-time solving of the seeding position of each rowing unit.The experiment showed that the system can accurately measure the seeding position with less than 30 mm of the root-mean-square error when the operating speed was within 7 km/h for straight line seeding or 3 km/h for curved seeding,which met the requirement of seeding position prediction accuracy in the precision seeding process.

关 键 词：播种定位系统 RTK/IMU组合定位 双天线RTK 卡尔曼滤波 弯道播种 

分 类 号：S24[农业科学—农业电气化与自动化]