| 基于GNSS航向微分和MEMS陀螺仪的农机轮角测量方法 |
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| 引用本文： | 何杰,高维炜,王辉,岳斌斌,张帆,张智刚.基于GNSS航向微分和MEMS陀螺仪的农机轮角测量方法[J].华南农业大学学报,2020,41(5):91-98. |
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| 作者姓名： | 何杰 高维炜 王辉 岳斌斌 张帆 张智刚 |
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| 作者单位： | 华南农业大学 工程学院/南方农业机械与装备关键技术教育部重点实验室,广东 广州 510642;华南农业大学 工程学院/南方农业机械与装备关键技术教育部重点实验室,广东 广州 510642;华南农业大学 工程学院/南方农业机械与装备关键技术教育部重点实验室,广东 广州 510642;华南农业大学 工程学院/南方农业机械与装备关键技术教育部重点实验室,广东 广州 510642;华南农业大学 工程学院/南方农业机械与装备关键技术教育部重点实验室,广东 广州 510642;华南农业大学 工程学院/南方农业机械与装备关键技术教育部重点实验室,广东 广州 510642 |
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| 基金项目： | 广东省重点领域研发计划(2019B090922001)；国家重点研发计划(2017YFD0700404) |
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| 摘 要： | 【目的】设计一种农机前轮转角测量方法,代替安装复杂的连杆式轮角传感器。【方法】采用GNSS天线测量航向和速度,MEMS陀螺仪测量车身和车轮的合转动速率,计算MEMS陀螺仪与GNSS航向微分差值,获得车轮转动速率;设计自适应卡尔曼滤波器进行信息融合和校正,获得车轮转向角,并进行性能验证和田间应用试验。【结果】与连杆式轮角传感器测量结果对比,轮角测量方法的拖拉机在偏离航线2.5和1.5 m进行上线时,平均绝对误差(MAE)分别为1.13°和0.87°,均方根误差(RMSE)分别为0.90°和0.68°,上线时间分别为29.4和23.5 s;以4 km/h田间导航应用时,MAE为0.44°,RMSE为0.87°,满足拖拉机旱地作业要求。【结论】GNSS航向微分和MEMS陀螺仪轮角测量方法与连杆式轮角传感器测量性能相当,能够替代轮角传感器用于较低速农业机械导航。
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| 关 键 词： | 转向轮角 MEMS陀螺仪 卡尔曼滤波器 农机导航 农业机械 航向 |
| 收稿时间： | 2020/2/23 0:00:00 |
Wheel steering angle measurement method of agricultural machinery based on GNSS heading differential and MEMS gyroscope |
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| HE Jie,GAO Weiwei,WANG Hui,YUE Binbin,ZHANG Fan,ZHANG Zhigang.Wheel steering angle measurement method of agricultural machinery based on GNSS heading differential and MEMS gyroscope[J].Journal of South China Agricultural University,2020,41(5):91-98. |
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| Authors: | HE Jie GAO Weiwei WANG Hui YUE Binbin ZHANG Fan ZHANG Zhigang |
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| Institution: | College of Engineering, South China Agricultural University/Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, Guangzhou 510642, China |
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| Abstract: | Objective To replace the link-type wheel angle sensor which is complicated to install, a method for measuring the front wheel angle of agricultural machinery was designed.Method GNSS antenna was used to measure the course and speed information, and MEMS gyroscope was used to measure the combined rotation speed of the tractor body and wheel. The differential difference between MEMS gyroscope and GNSS heading was calculated to obtain the wheel rotation rate. The self-adaptive Kalman filter was designed to fuse and correct the information, and wheel steering angle was obtained. Performance verification and field application test were conducted.Result The performance of the wheel angle measurement method designed in this paper was verified by comparing its measurement result with that of the link-type wheel angle sensor. When the course deviations of the tractor were 2.5 and 1.5 m respectively, the mean absolute errors (MAE) of the new measurement method were 1.13° and 0.87° respectively, the root mean square errors (RMSE) were 0.90° and 0.68° respectively, and the on-line times were 29.4 and 23.5 s respectively. When the method was used with the tractor navigating at the speed of 4 km/h in the field, the MAE was 0.44°, and the RMSE was 0.87°, which could meet the requirements of tractor operation on dry land. Conclusion The measurement method based on GNSS heading differential and MEMS gyroscope has equivalent measurement performance with the link-type wheel angle sensor. This measurement method can be used to replace wheel angle sensor for the navigation of low speed agricultural machinery. |
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| Keywords: | steering wheel angle MEMS gyroscope Kalman filter agricultural machinery navigation agricultural machinery heading |
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