| 智能农机GNSS/INS组合导航系统设计 |
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| 引用本文： | 钟银,薛梦琦,袁洪良.智能农机GNSS/INS组合导航系统设计[J].农业工程学报,2021,37(9):40-46. |
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| 作者姓名： | 钟银 薛梦琦 袁洪良 |
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| 作者单位： | 同济大学电子与信息工程学院,上海 201804 |
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| 基金项目： | 教育部中国移动科研基金（MCM2020-J2） |
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| 摘 要： | 为提高自动导航农机的定位精度和可靠性,该研究设计了基于全球导航卫星系统(GlobalNavigationSatellite System, GNSS)和惯性导航系统(Inertial Navigation System, INS)的智能农机组合导航系统,该系统根据来自INS的三轴姿态角速度、加速度信息以及高精度定位板卡的三轴位置、速度信息,采用松耦合模式,通过卡尔曼滤波对INS误差实时校正,解算出农机的精准位置、速度和姿态信息。为实现该组合导航系统,设计和制作了智能农机控制板,集成GNSS高精度解析板卡和惯性测量模块,并在控制板上实现组合导航算法。搭建了东风DF1004-2智能农机试验平台,并在试验田中分别进行静止和直线行驶状态下的试验和单独GNSS导航与组合导航效果的对比。试验结果表明,在农机静止状态,两者性能接近,定位误差均在1 cm以内,姿态角误差均在0.1°以内;在农机以2 m/s的速度按照预设直线行驶时,单独GNSS导航位置误差在6 cm以内,姿态角误差在1°以内,GNSS/INS组合导航位置误差在3 cm以内,姿态角误差在0.5°以内,GNSS/INS组合导航精度明显的提升,可为高精度农机自动导航控制提供技术支持。
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| 关 键 词： | 农业机械 导航 卡尔曼滤波 GNSS/INS 松耦合 |
| 收稿时间： | 2020/9/1 0:00:00 |
| 修稿时间： | 2021/4/30 0:00:00 |
Design of the GNSS/INS integrated navigation system for intelligent agricultural machinery |
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| Zhong Yin,Xue Mengqi,Yuan Hongliang.Design of the GNSS/INS integrated navigation system for intelligent agricultural machinery[J].Transactions of the Chinese Society of Agricultural Engineering,2021,37(9):40-46. |
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| Authors: | Zhong Yin Xue Mengqi Yuan Hongliang |
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| Institution: | College of Electronics and Information Engineering, Tongji University, Shanghai 201804,China |
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| Abstract: | An integrated navigation system aims to deal with autonomous navigation, positioning, motion control, and equipment calibration, generally combining two or more navigation devices on carriers. In this study, an intelligent integrated navigation system was therefore designed for agricultural machinery using Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS), in order to improve the positioning accuracy and reliability of automatic navigation in agricultural machinery. The system was derived from the angular velocity and acceleration of INS three-axis attitude, as well as the position and velocity of high-precision positioning board. The loose-coupling mode and real-time correction of INS error were adopted via a Kalman filter to collect the accurate position, velocity and attitude of agricultural machinery. The automatic navigation of agricultural machinery reduced labor intensity and costs for better profits, despite being one of the key technologies for the development of modern agriculture. Most automatic navigation of agricultural machinery currently used the GNSS and INS for positioning and navigation. But there is still a great challenge on some defects, such as the lack of GNSS signals, and the accumulation of INS errors over time. A control board of intelligent agricultural machinery was also manufactured to integrate the GNSS high-precision analysis and inertial measurement, where the integrated navigation program was implemented. The specific procedure was as follows. 1) To determine the project implementation plan and related devices; 2) To design an integrated navigation system, including the structure and mode of GNSS/INS, where the loose coupling mode was set; 3) To design hardware circuits in the PCB production and develop software program in C language under Keil5 IDE; 4) To test the positioning and navigation effects of the system in actual farmland and further verify the accuracy and stability of positioning and navigation system. In addition, a test platform of DF1004-2 intelligent agricultural machinery was established to perform in the Beidou field under static and linear motion. A comparison was also made on the single GNSS and combined navigation. The test results showed that there was little difference in the performance between single GNSS and integrated navigation, where the positioning error was less than 1 cm, and the attitude angle error was less than 0.1°, when the agricultural machinery was stationary. The system output simultaneously single GNSS and GNSS/INS integrated navigation information, when the agricultural machinery was driven in a preset straight path at a speed of 2 m/s. The position error of single GNSS navigation was less than 6 cm, and the attitude angle error was less than 1°, whereas, the position error of GNSS/INS integrated navigation was less than 3 cm, and the attitude angle error was less than 0.5°. There was a limited gain that was provided by the inertial measurement under stationary conditions, due to the zero-moving speed, in line with the theory of dead reckoning. In the case of movement, the GNSS/INS integrated navigation presented a greater accuracy than single GNSS navigation. The finding can provide strong support to high precision and automatic navigation control of machines in intelligent agriculture. |
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| Keywords: | agricultural machinery navigation Kalman filter GNSS/INS loosely coupled integration |
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