智能林区巡护车双天线GNSS/INS组合姿态测量系统设计与试验  

Design and Experiment of Dual Antenna GNSS/INS Attitude Measurement System for Intelligent Forest Patrol Vehicle

作　　者：王猛猛[1] Wang Mengmeng(The School of Technology,Beijing Forestry University,Beijing 100083,China)

机构地区：[1]北京林业大学工学院,北京100083

出　　处：《农业技术与装备》2025年第2期19-22,共4页Agricultural Technology & Equipment

摘　　要：林区作业环境复杂,为实现对林区作业车辆行驶姿态的实时监测,设计了一套基于双天线GNSS/INS融合技术的车辆姿态测量系统,利用Kalman滤波算法有效地解决了林区复杂环境卫星信号持续性差、数据处理滞后等问题,通过智能林区巡护小车的林区道路车载试验,得到了车速、车身俯仰角、车身侧倾角、侧向加速度等车辆实时动态参数,各动态参数能正确反映车辆的实时运行状况,表明该系统在林地作业车辆上应用可行。In order to realize real-time monitoring of vehicle driving attitude in forest area,a vehicle attitude measurement system based on dual-antenna GNSS/INS fusion technology was designed.Kalman filter algorithm was used to effectively solve the problems of poor satellite signal persistence and data processing lag in complex forest environment.Through the on-board test of the intelligent forest patrol car on forest road,the real-time dynamic parameters such as vehicle speed,body pitch angle,body side Angle and side acceleration were obtained.Each dynamic parameter could accurately reflect the real-time running status of the vehicle,indicating that the system was feasible to be applied to forest operation vehicles.

关 键 词：林区作业 姿态测量 KALMAN滤波 侧向加速度 车辆主动安全 

分 类 号：TN967.1[电子电信—信号与信息处理]