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插秧机多传感器组合导航方法研究
Alternative TitleResearch on Multi-Sensor Integrated Navigation for Transplanter
刘晓光; 胡静涛; 白晓平; 李逃昌; 高雷
Department信息服务与智能控制技术研究室
Source Publication农机化研究
ISSN1003-188X
2014
Issue5Pages:24-30
Contribution Rank1
Funding Organization国家“863计划”项目(2013AA040403);“十二五”国家科技支撑计划项目(2011BAD20B06)
Keyword组合导航 信息融合 卡尔曼滤波 插秧机
Abstract以洋马插秧机为研究平台,提出了一种基于多传感器信息融合的组合导航方法。该方法利用 DGPS、陀螺仪和加速度计能够在插秧机上实现低成本、高精度的导航定位。同时,通过插秧机的运动学分析,建立了农机的二维运动学模型;基于所建立的农机运动学模型,采用卡尔曼滤波的方法对插秧机的位置、速度和航向角进行精确的估计。通过对插秧机实际行走的数据进行仿真实验表明,该方法能够为插秧机提供可靠的导航信息。
Other AbstractThe multi-sensor data fusion integrated navigation method is proposed based on the transplanter research plat -form.The method realize the low-cost and high precision navigation using DGPS , Gyro and Accelerometer on transplan-ter .The method build two dimensional kinematic model of Agricultural machinery through the transplanter kinematics a -nalysis .The method can realize accurately estimate of transplanter position , speed and heading by using the kalman filter based on the established kinematic model .Based on the actual data of transplanter walk , simulation results show that the method can provide reliable navigation information for transplanter .
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14675
Collection信息服务与智能控制技术研究室
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院网络化控制系统重点实验室
3.中国科学院大学
Recommended Citation
GB/T 7714
刘晓光,胡静涛,白晓平,等. 插秧机多传感器组合导航方法研究[J]. 农机化研究,2014(5):24-30.
APA 刘晓光,胡静涛,白晓平,李逃昌,&高雷.(2014).插秧机多传感器组合导航方法研究.农机化研究(5),24-30.
MLA 刘晓光,et al."插秧机多传感器组合导航方法研究".农机化研究 .5(2014):24-30.
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