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| 基于Kalman滤波农用车辆导航定位方法 | |
| 引用本文： | 籍颖,刘兆祥,刘刚,张漫,周建.基于Kalman滤波农用车辆导航定位方法[J].农业机械学报,2009,40(Z1):13-17. |
| 作者姓名： | 籍颖 刘兆祥 刘刚 张漫 周建 |
| 作者单位： | 1. 中国农业大学信息与电气工程学院,北京,100083;河北农业大学信息科学与技术学院,保定,071001 2. 中国农业大学信息与电气工程学院,北京,100083 3. 国家农业信息化工程技术研究中心,北京,100097 |
| 基金项目： | 国家"863"高技术研究发展计划资助项目 |
| 摘 要： | 因RTD-GPS定位精度不能满足农田导航作业的需要,研究了一种提高农用车辆自动导航定位精度的方法.建立天线补偿模型,对GPS天线晃动引起的误差进行了补偿;建立基于Kalman滤波模型,融合多传感器信息;使用自主开发的基于VRS的GPS接收机,作为RTD-GPS.将RTD-GPS、电子罗盘以及速度传感器获得信息进行Kalman滤波,其结果和高精度GPS数据进行了比较.实验证明,直线跟踪中,平均偏差由1.6019m减小到0.597m;曲线跟踪中,平均偏差由1.2085m减小到0.4861m. |
| 关 键 词： | 车辆导航 定位 Kalman滤波 信息融合 |
Positions Research of Vehicle Navigation System Based on Kalman Filter |
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| Ji Ying, Liu Zhaoxiang Liu Gang Zhan Man Zhou Jianjun.Positions Research of Vehicle Navigation System Based on Kalman Filter[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(Z1):13-17. | |
| Authors: | Ji Ying Liu Zhaoxiang Liu Gang Zhan Man Zhou Jianjun |
| Institution: | 1.College of Information and Electrical Engineering;China Agricultural University;Beijing 100083;China2.College of Information and Science & Technology;Agricultural University of Hebei;Baoding 071001;China3.National Engineering Research Center for Information Technology in Agriculture;Beijing 100097;China |
| Abstract: | ince the positioning accuracy of low accuracy GPS can not meet the requirements of agricultural production,a new navigation method is studied to improve the position accuracy.The compensate model is built to compensate for the libration caused by the antenna.A Kalman filter is developed,and a VRS-based receiver is used as the low accuracy GPS.The Kalman filter is applied to the data collected from the low accuracy GPS,compass and speed sensor.The data set collected from the RTK-GPS is used as a baseline to ... |
| Keywords: | Vehicle navigation Position Kalman filter Information fusion |
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