| 基于视觉与惯性的农机组合导航的方法研究 |
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| 引用本文： | 马志艳,欧阳方熙,杨光友,余昌舜.基于视觉与惯性的农机组合导航的方法研究[J].农机化研究,2019(6):7-12. |
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| 作者姓名： | 马志艳 欧阳方熙 杨光友 余昌舜 |
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| 作者单位： | 湖北工业大学农业机械工程研究设计院 |
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| 基金项目： | 国家重点研发计划子项目(2017YFD0700603-03);湖北省技术创新重大项目(2017ABA164) |
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| 摘 要： | 以棚室电动微耕机为试验平台,提出了一种基于视觉与惯性融合的组合导航方法。利用摄像头、陀螺仪和加速度计在微耕机上实现了低成本、高精度的导航定位。通过以导航线为参考系的位姿描述建立农机运动学模型,采用卡尔曼扩展滤波对两种导航模块得到的农机位置、速度和航向角信息进行最优融合估计。微耕机实际行走数据的仿真实验表明:该方法能够为农机自动作业提供实用可靠的导航信息。
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| 关 键 词： | 农业机械 组合导航 卡尔曼滤波 信息融合 微耕机 |
Research on Multi-Sensor Integrated Navigation Based on Vision and Inertia |
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| Ma Zhiyan,Ouyang Fangxi,Yang Guangyou,Yu Changshun.Research on Multi-Sensor Integrated Navigation Based on Vision and Inertia[J].Journal of Agricultural Mechanization Research,2019(6):7-12. |
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| Authors: | Ma Zhiyan Ouyang Fangxi Yang Guangyou Yu Changshun |
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| Institution: | (Research and Design Institute of Agricultural Machinery, Hubei University of Technology, Wuhan 430068, China) |
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| Abstract: | A method of multi–sensor data fusion integrated navigation based on the electric mini-tiller working in greenhouse is proposed. By using camera, gyro and accelerometer on the mini-tiller, it makes the navigation low-cost and high precision. Taking the navigation target path as its reference system, the position and orientation equation of agricultural machinery is established for the kinematics model. Relaying on the kinematic model, this method can realize accurately estimate of position, speed and posture by using the extended Kalman filter. Based on the actual data of vehicle work, simulation results show that the method can provide reliable navigation information for agricultural machinery. |
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| Keywords: | agricultural machine integrated navigation Kalman filter data fusion mini-tiller |
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