CN102577742A - Real-time acre counting method based on GPS (Global Positioning System) - Google Patents

Abstract

The invention discloses a real-time acre counting method based on PGS (Global Positioning System), which comprises the following steps: mounting a universal GPS module and an embedded control system on a harvester; calculating the longitude and the latitude of the position of the harvester during the harvesting process of the harvester in real time through the GPS module; calculating the advance distance of the harvester according to the longitudes and the latitudes of two adjacent positions of the harvester calculated by the GPS module through the embedded control system; and multiplying the calculated advance distance with the cutting amplitude of the harvester to obtain the harvesting area between the two calculation positions of the harvester. The method of the invention precisely counts the working area of the agricultural harvesting machinery through GPS signals in real time. The method is simple and effective, and the method can perform real-time acre counting on the harvester during the working process of the harvester without changing the current harvesting machinery.

Description

Real-time meter mu method based on GPS

Technical field

The present invention relates to a kind of real-time meter mu method based on GPS.

Background technology

The statistics of agricultural harvesting machinery working area is a very important parameters to the crops production field.On the one hand, under the development trend of present precision agriculture, the statistics of agricultural harvesting machinery working area is most important to the crop yield of grasping the harvesting plot; On the other hand; Domestic present crops harvesting has realized the mechanized of harvest machinery basically; Particularly in busy farming season; The own grain header of peasant household's utilization carries out transregional charge and had become trend already, and the foundation of charge is exactly the working area of harvest machinery, so the statistics in real time and accurately of harvest machinery working area is also become the active demand that these utilize grain header cross-regional operation machine master.

Statistical method to the reaping machine working area roughly has two kinds at present: a kind of is sensor installation on the reaping machine drive system; Utilize this sensor to detect the rotating cycle of driving wheel; Grain header forward travel distance in prediction on such basis multiplies each other forward travel distance and swath promptly to get then and gathers in area.This method can real-time statistics be gathered in area, but has following defective: the crawler belt during (1) harvester operation skids making forward travel distance and the actual forward travel distance extrapolated according to the rotating cycle of driving wheel produce error; (2) adopt this mode to need the dependency structure of grain header is done repacking, more time-consuming, effort.

Another kind of assignment statistics Method for Area has also been utilized GPS; Its assignment statistics Method for Area is to be taken a round around this harvesting plot before and after the harvesting operation by the hand-held this Mu counter of manual work; Count area then, this method has been utilized the convenience of GPS, but the mode of assignment statistics area is convenient inadequately; Real-time is not high, and the extra workload that increases grain header machine master.

Summary of the invention

The object of the present invention is to provide a kind of simple and effectively, and need not existing harvest machinery is done any change, the real-time meter mu method of just can be when grain header is worked grain header being counted mu in real time based on GPS.

Technical solution of the present invention is:

A kind of real-time meter mu method based on GPS; It is characterized in that: general GPS module and embedded control system are installed on grain header; Warp, the latitude of GPS module real-time resolving grain header grain header present position in the harvesting operation process; Embedded control system calculates the grain header forward travel distance according to warp, the latitude value of the adjacent two positions of grain header that GPS calculates, with this forward travel distance that calculates and grain header swath multiply each other get final product the harvesting areas of grain header between these two measuring and calculating positions.

The frequency of general GPS module output latitude and longitude coordinates is 1Hz, utilizes the GPS module every at a distance from the position of 1 second with regard to refreshable grain header.

Course, the ground value of GPS module output is a certain value in the grain header driving process; Near or swing a little certain value; The control system thinks that grain header is current and taking the air line, and during the statistics area, the control system only gets cutting mill and walks the starting point and the terminal point of this section straight line and calculate the grain header forward travel distance.

The course, ground of GPS module output value constantly changes in the grain header driving process, and the control system thinks that grain header walking curve, during area statistics, adopts the forward travel distance that calculates per second, and adding up then obtains total distance.

The present invention utilizes gps signal to add up the method for agricultural harvesting machinery working area in real time and accurately.This method is simple and effective, and need not existing harvest machinery is done any change, just can when grain header is worked, count mu in real time to grain header.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is described further.

Fig. 1 is the sketch map of the present invention's real-time statistics area in grain header harvesting process.

Embodiment

General GPS module and embedded control system are installed on grain header; Warp, the latitude of GPS module real-time resolving grain header grain header present position in the harvesting operation process; Embedded control system calculates the grain header forward travel distance according to warp, the latitude value of the adjacent two positions of grain header that GPS calculates, with this forward travel distance that calculates and grain header swath multiply each other get final product the harvesting areas of grain header between these two measuring and calculating positions.The frequency of general GPS module output latitude and longitude coordinates is generally 1Hz; So, utilize the GPS module every at a distance from the position of 1 second, along with advancing of grain header with regard to refreshable grain header; The harvesting area that will calculate each second adds up, and just can obtain the gross area of the current harvesting of grain header.

Simultaneously; Consider GPS at the measuring and calculating longitude and latitude, and utilize warp, latitude to calculate the error that the used formula of ground distance brings, the route characteristic when the present invention is directed to grain header harvesting operation; In statistics during area, it is divided into grain header takes the air line and walk two kinds of situation of curve.If course, the ground value of GPS module output is a certain value in the grain header driving process; Near or swing a little certain value; The control system thinks then that grain header is current and is taking the air line; Statistics is during area, and the control system only gets cutting mill and walks starting point and the terminal point of this section straight line and calculate the grain header forward travel distance, and the total distance that obtains like this obtains always apart from error, descending an one magnitude than adding up then through the forward travel distance that calculates each second.If course, the ground value of GPS module output in the grain header driving process constantly changes; The control system thinks that then grain header walking curve; Area statistics so in this case just adopts the forward travel distance of foregoing calculating per second, adds up then to obtain total distance.Grain header major part in the harvesting operation is to take the air line, so it is little to walk the area statistics error that curve brings, generally at below 5% of the gross area.

Harvester header 12 harvestings along the harvesting path among the figure, the A point is GPS module location point with 1Hz frequency output warp, latitude coordinate on this path to the I point on the path.Reading grain header ground course to E point embedded control system through the GPS module from the A point is definite value; Near or change a little this definite value; What then control system confirmed that the A point walks to E point grain header is straight line; So the control system gives up B, C, D point, directly calculate the straight ahead distance of grain header according to A point and E point warp, latitude.

If warp, latitude that A, E are ordered be respectively (LonA, LatA), (LonE, LatE) (unit: radian), the earth ellipsoid major radius is got a=6378.137Km,

The ground distance between A, E point then:

$L_{\mathrm{AE}}=2\×6378.137\×1000*a\sin \left(\sqrt{{\sin }^2\left(\frac{\mathrm{LatA}-\mathrm{LatE}}{2}\right)+\cos \left(\mathrm{LatA}\right)*\cos \left(\mathrm{LatE}\right)*{\sin }^2\left(\frac{\mathrm{LonA}-\mathrm{LonE}}{2}\right)}\right)$

(unit: m) draw harvesting area between A, E point thus:

S _AE=L _AE* B/666.6 (B-grain header swath) (unit: mu)

When grain header gathered on the E-F-G-H-I of path, the course, grain header ground that the control system measures the output of GPS module was a variate, was walking curve so confirm grain header, and this moment, the grain header area statistics was:

S _EFGHI=(L _EF+ L _FG+ L _GH+ L _HI) * B/666.6 (unit: mu)

L wherein _EF, L _FG, L _GH, L _HIDistance for the GPS module adjacent point-to-point transmission that every output once calculates through, latitude on curve harvesting path.In theory, its value is more little, and is just high more to the statistical accuracy of the harvesting area at curve place, so the area statistics precision at curve place depends on that to a great extent the GPS module is to the refresh rate through, latitude coordinate.But the actual pace when considering the grain header harvesting, the refresh rate of common GPS module 1HZ can satisfy required precision basically.

So, utilize method real-time statistics shown in the present to obtain grain header to be at the harvesting area of harvesting on the path 2:

S _ABCDEFGHI=(L _AB+ L _BC+ L _CD+ L _DE+ L _EF+ L _FG+ L _GH+ L _HI) * B/666.6 (unit: mu).

Claims (4)

1. real-time meter mu method based on GPS; It is characterized in that: general GPS module and embedded control system are installed on grain header; Warp, the latitude of GPS module real-time resolving grain header grain header present position in the harvesting operation process; Embedded control system calculates the grain header forward travel distance according to warp, the latitude value of the adjacent two positions of grain header that GPS calculates, with this forward travel distance that calculates and grain header swath multiply each other get final product the harvesting areas of grain header between these two measuring and calculating positions.

2. the real-time meter mu method based on GPS according to claim 1 is characterized in that: the frequency of general GPS module output latitude and longitude coordinates is 1Hz, utilizes the GPS module every at a distance from the position of 1 second with regard to refreshable grain header.

3. the real-time meter mu method based on GPS according to claim 1 and 2; It is characterized in that: course, the ground value of GPS module output is a certain value in the grain header driving process; Near or swing a little certain value; The control system thinks that grain header is current and taking the air line, and during the statistics area, the control system only gets cutting mill and walks the starting point and the terminal point of this section straight line and calculate the grain header forward travel distance.

4. the real-time meter mu method based on GPS according to claim 1 and 2; It is characterized in that: course, the ground value of GPS module output constantly changes in the grain header driving process; The control system thinks that grain header walking curve; During area statistics, adopt the forward travel distance that calculates per second, adding up then obtains total distance.

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