| 基于组合导航的整平机定位系统的设计与试验 |
| |
| 引用本文： | 朱楠,黄欢,金鑫,秦海鹏.基于组合导航的整平机定位系统的设计与试验[J].农机化研究,2019(6):181-185. |
| |
| 作者姓名： | 朱楠 黄欢 金鑫 秦海鹏 |
| |
| 作者单位： | 江苏师范大学电气工程及自动化学院 |
| |
| 基金项目： | 国家自然科学基金项目(61503167);江苏省自然科学基金项目(BK20140240) |
| |
| 摘 要： | 无人驾驶是农用机械车辆未来的发展趋势。为此,选择GPS/INS组合导航的定位方式对整平机进行速度控制和精确定位。首先,利用卡尔曼滤波算法将惯性导航中的高精度惯性传感器与磁力计进行数据融合,由解算出的航向角可得到整平机的偏航信息;然后,利用扩展卡尔曼滤波算法将惯性导航与GPS输出的导航参数进行融合。实验表明:组合导航输出的导航参数能够精确跟踪整平机实际的位置和速度信息,输出的姿态角精度满足实际要求。
|
| 关 键 词： | 整平机 定位系统 GPS/INS组合导航 卡尔曼滤波 姿态解算 |
Design and Experiment of A Positioning System for Leveling Machines Based on Integrated Navigation |
| |
| Zhu Nan,Huang Huan,Jin Xin,Qin Haipeng.Design and Experiment of A Positioning System for Leveling Machines Based on Integrated Navigation[J].Journal of Agricultural Mechanization Research,2019(6):181-185. |
| |
| Authors: | Zhu Nan Huang Huan Jin Xin Qin Haipeng |
| |
| Institution: | (Institute of Electrical Engineering and Automation,Jiangsu Normal University,Xuzhou 221000, China) |
| |
| Abstract: | Pilotless drive is the future trend of agricultural machinery vehicles. In this paper, the GPS/INS integrated navigation is purposed to obtain the speed and displacement of the leveling machine. The Kalman filter algorithm is used to fuse the measurements of inertial sensors and magnetometers. The course information of the leveling machine is obtained from the calculated path angle.In addition,the extended Kalman filter algorithm is used to fuse the navigation parameters of inertial navigation and GPS.The experimental results show that the navigation parameters can be used to precisely track the realistic position and speed of the leveling machine.The precision of attitude angles are achieved for practical applications. |
| |
| Keywords: | leveling machine positioning system GPS/INS integrated navigation kalman filter attitude algorithm |
| 本文献已被 CNKI 维普 等数据库收录！ |
