CN107315345A - Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model - Google Patents
Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract
The agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance the invention discloses a kind of, the positioning for carrying out agricultural machinery using the integral double antenna GNSS receiver of synchronic clock for supporting many star system carrier phase difference technologies surveys appearance, using the forward sight distance of segmented adaptive and velocity correlation as the parameter taken aim in advance in tracing model method to agricultural machinery progress path following control.In the present invention：The number of satellite for participating in positioning calculation can be effectively increased by supporting the positioning board of many star system carrier phase difference technologies, improve the precision and stability of navigator fix；The precision and real-time that appearance improves agricultural machinery attitude measurement are surveyed in inertial navigation based on satellite navigation system；The pre- driving behavior for taking aim at tracing model algorithm design simulation people has foresight, and path following control effect is good, improves rapidity, stability and the adaptability to complicated farmland road conditions that agricultural machinery is reached the standard grade；Forward sight distance and velocity correlation, improve control accuracy and stability of the agricultural machinery automated navigation system in relatively high speed operation.
Description
Technical field
Appearance and self-navigation control method are surveyed the present invention relates to a kind of positioning of agricultural machinery, more particularly to it is a kind of based on double antenna
GNSS and the agricultural machinery self-navigation control method for taking aim at tracing model in advance, belong to agricultural machinery GNSS self-navigations field.
Background technology
As a core key technology of precision agriculture, automatic steering control of farm mechanism is widely used in farming, sows, applies
The agricultural production processes such as fertilizer, spray, harvest.In agricultural machinery automated navigation system, agricultural machinery position attitude measurement method and navigation road
Path tracing control method is two big core technologies of farm machinery navigation system.In current farm machinery navigation system, it is common to use with li
The RTK-GPS of meter level positioning precision.Relative to many global position systems, single satellite system is possibly in complex situations to provide
Enough satellites, or satellite signal quality are unstable, cause the interruption of navigation system.It is that precision is led to possess enough satellite numbers
The premise of boat, the observed quantity of redundancy can increase the reliability of satellite navigation system.With David's star systems of GNSS tetra- gradually
Maturation, global user obtains the signal of more navigation positioning satellites, farm machinery navigation by using the board for supporting many star systems
System will virtually improve the precision of farm machinery navigation positioning and steady using supporting the boards of many star system carrier phase difference technologies
It is qualitative.
It is that precision time service and positioning service are designed that GPS, which is earliest, but with the further investigation to it and usage mining, it is dived
High-precision attitude measurement capability obtained extensive concern.Traditional high accuracy, which surveys appearance, to be realized using inertia device
, its equipment is complicated, expensive, maintenance difficult, dynamic accuracy are poor.Course angle and roll angle are automatic steering control of farm mechanism
Important parameter in control, the past generally carries out the measurement of course angle using single-antenna GPS/gyroscope combination, and measurement accuracy is held
Easily influenceed by car body vibrations and gyroscope bias drift, because Kalman filter is initial during agricultural machinery parking is restarted
Change is likely to result in the inaccurate of course angle short time, causes agricultural machinery to deviate preset path influence operation quality.In trench digging etc. at a slow speed
In operation, because 2 points of adjacent positioned apart from small causes GPS heading measures noise big so as to influenceing to combine course angular accuracy.Roll
What the measurement at angle was generally realized using high accuracy INS in the past, pass through the angle speed during gyro and accelerometer paratonic movement
Degree and linear acceleration, the attitude angle of motion carrier is obtained by integrating with projectional technique.High-precision INS equipment is complicated, price
Expensive, maintenance difficult, is unfavorable for the popularization of farm machinery navigation system.Integral double antenna GNSS boards based on satellite navigation system can
The course angle and roll angle of agricultural machinery are measured simultaneously, and can ideally overcome the shortcoming of agricultural machinery attitude measurement method in the past, tool
Have the advantages that with low cost, precision is high, real-time is good, open space stability is good, be especially suitable for the big face in open space farmland
Product operation.
Guidance path tracking and controlling method mainly include control method based on agricultural machinery kinematics or kinetic model and
The unrelated control method of model.Due to not knowing that the farm environments such as complexity, the soil of agricultural machinery in itself and agricultural machinery and implement are loaded
Property presence, cause farm machinery navigation control system for complicated uncertain system.In order to avoid model it is inaccurate or
Model parameter acute variation is chased after to the negative effect produced by agricultural machinery path following control performance using pre- take aim at unrelated with model
Track method carries out agricultural machinery path following control, and it is not related to the control theory knowledge of complexity, with control parameter is few, algorithm design
The driving behavior of simulation people found the features such as there is foresight, in experiment it is pre- take aim at that method for tracing improves that agricultural machinery reaches the standard grade it is quick
Property, stability and the adaptability to complicated farmland road conditions.
The content of the invention
It is a primary object of the present invention to the shortcoming and deficiency for overcoming prior art, there is provided one kind is inexpensive, high-precision
The agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance, GNSS principals and subordinates antenna is closed installed in agricultural machinery
The position of reason, realizes that appearance is surveyed in positioning of the double antenna GNSS boards to agricultural machinery.Take aim at method for tracing in advance using segmented adaptive and carry out agriculture
Machine guidance path tracing control, improves agricultural machinery self-navigation control accuracy and its stability.
The purpose of the present invention is realized by following technical scheme：
The agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance the invention discloses a kind of, bag
Include following step：
S1, agricultural machinery are positioned using supporting many star system multiband carrier phase difference e measurement technologies to carry out high accuracy positioning
Method is：Base station sends differential data bag to double antenna GNSS boards, and double antenna GNSS boards receive difference as movement station
Packet, is resolved according to the high-precision coordinate that revised carrier phase observation data carries out agricultural machinery, so as to obtain agricultural machinery in WGS-
Original latitude, longitude and elevation coordinate under 84 coordinate systems；
Agricultural machinery described in S11, step S1 is using the carrier phase difference e measurement technology progress high accuracy for supporting many star systems
Localization method, its supporting base station should support many star system multiband carrier phases to position, the differential data that base station is sent
Wrap to include the packet of many star system difference informations；
S2, agricultural machinery are connect using the synchronic clock one double antenna GNSS of many star system multiband carrier phase difference technologies of support
Receipts machine carries out survey appearance, surveys attitude positioning method and is：
S21, double antenna GNSS receiver go out baseline of the primary antenna sensing from antenna according to carrier phase difference principle solving
Vector；
S22, the right-hand member by GNSS primary antennas at the top of agricultural machinery driver's cabin, are arranged at the top of agricultural machinery driver's cabin from antenna
Left end；
The component orthogonal of S23, the course angle of agricultural machinery and principal and subordinate's antenna baseline vector in the horizontal plane, is calculated by rotating
Formula is the course angle that can obtain agricultural machinery；
S24, the roll angle of agricultural machinery are the angle of principal and subordinate's antenna baseline vector and horizontal plane；
S3, using the forward sight distance of segmented adaptive and velocity correlation as the parameter taken aim in advance in method for tracing to agricultural machinery
Carry out path following control.
As preferred technical scheme, in step S22, the specific installation method of GNSS principals and subordinates antenna is：
1) bodywork reference frame is set up for agricultural machinery, bodywork reference frame Oxy is defined as using car body centroid position as origin O, transverse axis x
Car body direction of advance is pointed to, longitudinal axis y and transverse axis x is perpendicularly oriented to the left side of car body direction of advance；
2) double antenna fixed support is made, double antenna fixed support is the rectangular steel pipe that length is not less than 1.3m, is arranged on
At the top of tractor cab directly over car body barycenter, installation principle be steel pipe parallel to bodywork reference frame y-axis, on origin O
Symmetrically；
3) GNSS primary antennas are arranged on the support bracket fastened right-hand member of double antenna, support bracket fastened left end are arranged on from antenna,
Principal and subordinate's antenna is symmetrical on the x-axis of bodywork reference frame.
As preferred technical scheme, in step S24, in addition to the step of be filtered to roll angle, it is specially：
Roll angle is filtered using kalman filter method, the accurate estimation of agricultural machinery roll angle, this Kalman is obtained
State vector is vectorial for the roll angle and roll angle Speed Two Dimensions of agricultural machinery in wave filter；Measurement amount receives for double antenna GNSS
The one-dimensional scalar of roll angle that machine is obtained.
, will using the fine estimation of the course angle of acquisition, agricultural machinery roll angle in step S3 as preferred technical scheme
The position of control point from primary antenna at the top of agricultural machinery driver's cabin projects to agricultural machinery barycenter bottom, and the step uses the seat of Eulerian angles
Mark transition matrix to realize, planning every trade is basically parallel to during due to farm machinery navigation stable state and is sailed, influence of the angle of pitch to position deviation
Very little, therefore ignore influence of the angle of pitch to control point position deviation in projection process.
As preferred technical scheme, step S3 is specially：
An agricultural machinery tracking point is set on the planning operation row straight line of agricultural machinery direction of advance, is referred to as and takes aim in advance a little, navigation control
System point points to pre- direction vector a little of taking aim at as the bogey heading of agricultural machinery, and the difference in the bogey heading of agricultural machinery and current course is through limiting
The decision value at current agricultural machine wheel angle is used as after width processing.
As preferred technical scheme, make to plan the vertical line of operation row, control point to planning by control point
The distance of operation row straight line is position deviation, and the distance a little to vertical line is taken aim in advance and is referred to as the essence of forward sight distance, wherein position deviation
Degree is to evaluate the good and bad core index of agricultural machinery automated navigation system, and the size of forward sight distance directly influences agricultural machinery path trace control
Effect processed, forward sight distance is big, then position deviation corrective action is weak, and the control response time is long, but stability will not produce well it is big
Control concussion, forward sight is apart from small, then position deviation corrective action is strong, and the control response time is short, but may produce larger control
System concussion.
As preferred technical scheme, the thinking for being dynamically determined forward sight distance is：
1. under the stable precondition do not shaken, forward sight distance with it is smaller be it is easy, it is beneficial with correction position deviation as early as possible
In raising Navigation Control precision and upper linear velocity；
2. system concussion is caused to increase unstability because steering angle performs the reason such as delayed when agricultural machinery fair speed is travelled
Enhancing, should suitably increase forward sight distance.
As preferred technical scheme, under conditions of fixed agricultural machinery speed 1m/s, with different forward sight distance parameters pair
The line tracking control effect of agricultural machinery is tested, and optimal straight line tracking forward sight distance parameter is therefrom chosen, with the apparent distance before this
It is used as the minimum value of line tracking forward sight distance；With 0.2m/s increasing velocities, friction speed condition is found by the method for experiment
Under optimal forward sight distance, optimal forward sight distance is directly proportional to 3/2nds power sides of speed, is write forward sight distance as a+v3/2's
Form, only needs adjusting parameter a, and navigation system has good adaptability to speed.
As preferred technical scheme, position deviation is very big during due to reaching the standard grade, stabilization when being reached the standard grade for increase navigation system
Property, it should suitably increase forward sight distance when reaching the standard grade, state when position deviation is more than into 15cm is considered as the state of reaching the standard grade, position deviation
It is considered as line tracking state during less than 15cm, it is appropriate to increase a values during state of reaching the standard grade.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1. the present invention supports the positioning board of many star system carrier phase difference technologies of multifrequency to be effectively increased participation positioning
The number of satellite of resolving, improves the precision and stability of farm machinery navigation positioning, improves adaptability of the agricultural machinery to complicated farm environment；
2. double antenna GNSS board of the present invention based on satellite navigation system substitutes High Accuracy Inertial survey appearance and improves agricultural machinery
The real-time of attitude measurement, significantly reduces the cost of navigation system；
3. the larger roll angle of the white noise of the invention exported using kalman filter method to double antenna GNSS boards is entered
Row filtering, can form more continuous and stable agricultural machinery roll angular data, it is to avoid information delay after filtering, obtain agricultural machinery roll
The accurate estimation at angle so that the slant correction of agricultural machinery is more accurate.
4. the present invention is using the pre- driving behavior for taking aim at tracing model algorithm design simulation people of segmented adaptive forward sight distance
With foresight, path following control effect is good, improves rapidity, stability that agricultural machinery reaches the standard grade and to complicated farmland road conditions
Adaptability；
5. forward sight distance and velocity correlation, improve agricultural machinery automated navigation system in relatively high speed operation in the present invention
Control accuracy and stability.
Brief description of the drawings
Fig. 1 is double antenna and takes aim at the farm machinery navigation control method flow chart of tracing model in advance
Fig. 2 is agricultural machinery GNSS double antenna scheme of installations；
Fig. 3 is the front and rear comparison diagram of roll angle filtering of double antenna board output
Fig. 4 is pre- to take aim at tracing model geometric expression schematic diagram
Fig. 5 is the position deviation curve map of line tracking under preset parameter
Fig. 6 is position deviation curve map when reaching the standard grade under preset parameter
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment
The agricultural machinery that the present embodiment is used irrigates M904-D wheeled tractors for thunder, and its navigation system mainly includes：Benchmark
Stand and Data-Link, compass in ancient China K528 double antenna GNSS boards, double antenna fixed support, embedded board and display terminal；Such as Fig. 2
GNSS antenna scheme of installation of the embodiment of the present invention is shown, is that wheeled tractor 1 sets up bodywork reference frame, bodywork reference frame
Oxy is defined as using car body centroid position as origin O, and transverse axis x points to car body direction of advance, and longitudinal axis y is perpendicularly oriented to car body with transverse axis
The left side of direction of advance.Double antenna fixed support 2 is the rectangular steel pipe that length is not less than 1.3m, directly over car body barycenter
Tractor cab at the top of, installation principle be steel pipe parallel to bodywork reference frame y-axis, it is symmetrical on origin O.GNSS primary antennas
3 are arranged on the support bracket fastened right-hand member of double antenna (before car body direction of advance is), and support bracket fastened left end is arranged on from antenna 4, main
It is symmetrical on the x-axis of bodywork reference frame from antenna.Set base station to send RTCM3.2 form differential data bags, and pass through data
Chain is sent to K528 boards, sets K528 double antennas board with $ GNGGA in 10Hz rate-adaptive pacemaker NMEA-0183 reference formats
With $ GNTRA packets, the MCU in embedded board receives serial data with dma mode, and is cut in overtime interrupt program
Take the course angle α and angle of inclination beta in latitude in $ GNGGA packets, longitude, elevation coordinate information, interception $ GNTRA packets
Information.
Present embodiments provide it is a kind of take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model,
Comprise the steps：
The present embodiment is based on double antenna GNSS and takes aim at the agricultural machinery self-navigation control method of tracing model in advance, including it is following
Step：
S1, agricultural machinery are using the carrier phase difference e measurement technology progress high accuracy positioning for supporting many star systems, localization method
For：Base station sends differential data bag to double antenna GNSS boards, and double antenna GNSS boards receive differential data as movement station
Bag, is resolved according to the high-precision coordinate that revised carrier phase observation data carries out agricultural machinery, is sat so as to obtain agricultural machinery in WGS-84
Original latitude, longitude and elevation coordinate under mark system.
Agricultural machinery described in S11, step S1 is using the carrier phase difference e measurement technology progress high accuracy for supporting many star systems
Localization method, its supporting base station should support many star system multiband carrier phases to position, the differential data that base station is sent
Wrap to include the packet of many star system difference informations.
S2, agricultural machinery are connect using the synchronic clock one double antenna GNSS of many star system multiband carrier phase difference technologies of support
Receipts machine carries out survey appearance, surveys attitude positioning method and is：
S21, double antenna GNSS receiver go out baseline of the primary antenna sensing from antenna according to carrier phase difference principle solving
Vector；
S22, the right-hand member by GNSS primary antennas at the top of agricultural machinery driver's cabin, are arranged at the top of agricultural machinery driver's cabin from antenna
Left end；
The specific installation method of GNSS principals and subordinates antenna is：
1) bodywork reference frame is set up for agricultural machinery, bodywork reference frame Oxy is defined as using car body centroid position as origin O, transverse axis x
Car body direction of advance is pointed to, longitudinal axis y and transverse axis x is perpendicularly oriented to the left side of car body direction of advance；
2) double antenna fixed support is made, double antenna fixed support is the rectangular steel pipe that length is not less than 1.3m, is arranged on
At the top of tractor cab directly over car body barycenter, installation principle be steel pipe parallel to bodywork reference frame y-axis, on origin O
Symmetrically；
3) GNSS primary antennas are arranged on the support bracket fastened right-hand member of double antenna, support bracket fastened left end are arranged on from antenna,
Principal and subordinate's antenna is symmetrical on the x-axis of bodywork reference frame.
The component orthogonal of S23, the course angle of agricultural machinery and principal and subordinate's antenna baseline vector in the horizontal plane, is calculated by rotating
Formula is the course angle that can obtain agricultural machinery,
S24, the roll angle of agricultural machinery are the angle of principal and subordinate's antenna baseline vector and horizontal plane；
S3, using the forward sight distance of segmented adaptive and velocity correlation as the parameter taken aim in advance in method for tracing to agricultural machinery
Carry out path following control.
Obtained 2. the original latitude B under WGS-84 coordinate systems, longitude L coordinate are transformed under ENU navigation plane coordinate systems
Plane coordinates (x, y) at GNSS primary antennas, can realize that the present embodiment uses Gauss using gauss projection conversion or Surface by Tangent Plane Method
Method of Projection Change, specific conversion formula can consult related data.
In step S14, in addition to the step of be filtered to roll angle, it is specially：
Roll angle is filtered using kalman filter method, the accurate estimation of agricultural machinery roll angle, this Kalman is obtained
State vector is vectorial for the roll angle and roll angle Speed Two Dimensions of agricultural machinery in wave filter；Measurement amount receives for double antenna GNSS
The one-dimensional scalar of roll angle that machine is obtained.
Specially：Processing is filtered to the roll angle β that board is exported using Kalman filter, tractor is obtained horizontal
Roll the accurate estimation of angle informationIn the Kalman filter, there is derivative relation in roll angle and roll angular speed, system is inclined
Oblique real angle θ is used for doing state vector one-component, and the roll angle obtained using double antenna GNSS board measurements estimates angle of departure
Speed omega, another component using angular velocity omega as state vector, corresponding state equation and observational equation：
Setting the initialization condition of this Kalman filtering is：
Fig. 3 is roll angle comparison diagram before and after filtering, and line 1 is the original roll angle of double antenna GNSS receiver output, and line 2 is
The agricultural machinery roll angle of output after filtered.
According to car body course angle ψ, roll angleWith the relation of GNSS principal and subordinate's antenna baseline vectors, and WGS-84 coordinate systems
With the difference that course angle is defined under ENU horizontal navigation coordinate systems：Direct north is 0 ° under WGS-84 coordinate systems, is clockwise turned to
Just, course angle span for [0,360 °), due east direction is 0 ° under ENU horizontal navigation coordinate systems, and rotate counterclockwise is just, boat
To angle span for [0,360 °).It can obtain
In step S3, using the course angle Ψ of acquisition, the fine estimation of agricultural machinery roll angleBy control point from agricultural machinery
The position of primary antenna projects to agricultural machinery barycenter bottom at the top of driver's cabin, and the step is realized using the coordinate conversion matrix of Eulerian angles,
Planning every trade is basically parallel to during due to farm machinery navigation stable state to sail, influence very little of the angle of pitch to position deviation, therefore ignore pitching
Influence of the angle to control point position deviation in projection process.
Step S3 is specially：Chased after as shown in figure 4, setting an agricultural machinery on the planning operation row straight line of agricultural machinery direction of advance
Track point Pp, is referred to as and takes aim in advance a little, and control point points to and takes aim at direction vector a little as the bogey heading Th of agricultural machinery, the mesh of agricultural machinery in advance
Mark the course Th and current course Ch difference decision value as current agricultural machine wheel angle after amplitude limiting processing.
Make the vertical line of planning operation row by control point, the distance of control point to planning operation row straight line is
Position deviation Pe, takes aim at the distance a little to vertical line and is referred to as forward sight apart from Pd, wherein position deviation Pe precision is to evaluate agricultural machinery certainly in advance
The good and bad core index of dynamic navigation system, forward sight directly influences agricultural machinery path following control effect, forward sight apart from Pd size
Big apart from Pd, then position deviation corrective action is weak, and the control response time is long, but stability will not produce well big control concussion,
Forward sight is small apart from Pd, then position deviation corrective action is strong, and the control response time is short, but may produce larger control concussion.
When being dynamically determined the method for forward sight distance：
1. under the stable precondition do not shaken, forward sight apart from Pd with it is smaller be it is easy, with correction position deviation as early as possible, have
Beneficial to improving Navigation Control precision and upper linear velocity；
2. system concussion is caused to increase unstability because steering angle performs the reason such as delayed when agricultural machinery fair speed is travelled
Enhancing, should suitably increase forward sight distance.
Under conditions of fixed agricultural machinery speed 1m/s, the line tracking of agricultural machinery is controlled to imitate with different forward sight distance parameters
Fruit tested, therefrom choose optimal straight line track forward sight distance parameter, using the apparent distance before this as forward sight in line tracking away from
From minimum value Pd_min, it is to avoid too small hydraulic system pressure when causing the system to commutate of forward sight distance is too big during low speed.With 0.2m/
S increasing velocities, pass through optimal forward sight distance under the conditions of the method searching friction speed of experiment.Statistical test data, optimal forward sight
Distance is directly proportional to 3/2nds power sides of speed.Write forward sight distance as a+v3/2Form, only need adjusting parameter a, navigate
System has good adaptability to speed.Fig. 5 is to work as Pd_min=1.5m, a=0, when speed is 1-1.5m/s, line tracking
Position deviation curve map, under this group of parameter line tracking position deviation the overwhelming majority within 2cm.
Position deviation is very big during due to reaching the standard grade, stability when being reached the standard grade for increase navigation system, should suitably increase when reaching the standard grade
Forward sight distance.State when position deviation is more than into 15cm is considered as the state of reaching the standard grade, and position deviation is considered as straight line when being less than 15cm
Tracking mode.It is appropriate to increase a values during state of reaching the standard grade.Fig. 6 is to work as Pd_min=2m, a=0.5, when speed is 1-1.5m/s, on
Position deviation curve map during line, under this group of parameter on linear velocity it is fast, and do not vibrate.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (9)
1. take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model, it is characterised in that including following
Step：
S1, agricultural machinery are using the carrier phase difference e measurement technology progress high accuracy positioning for supporting many star system multibands, positioning side
Method is：Base station sends differential data bag to double antenna GNSS boards, and double antenna GNSS boards receive difference number as movement station
According to bag, resolved according to the high-precision coordinate that revised carrier phase observation data carries out agricultural machinery, so as to obtain agricultural machinery in WGS-84
Original latitude, longitude and elevation coordinate under coordinate system；
Agricultural machinery described in S11, step S1 is carried out high-precision using the carrier phase difference e measurement technology of many star system multibands of support
The method of positioning is spent, its supporting base station should support many star system multiband carrier phases to position, the difference that base station is sent
Packet is the packet for including many star system difference informations；
S2, agricultural machinery are using the integral double antenna GNSS receiver of synchronic clock for supporting many star system multiband carrier phase difference technologies
Survey appearance is carried out, surveying attitude positioning method is：
S21, double antenna GNSS receiver go out baseline vector of the primary antenna sensing from antenna according to carrier phase difference principle solving；
S22, the right-hand member by GNSS primary antennas at the top of agricultural machinery driver's cabin, the left side at the top of agricultural machinery driver's cabin is arranged on from antenna
End；
The component orthogonal of S23, the course angle of agricultural machinery and principal and subordinate's antenna baseline vector in the horizontal plane, by rotating calculation formula
It can obtain the course angle of agricultural machinery；
S24, the roll angle of agricultural machinery are the angle of principal and subordinate's antenna baseline vector and horizontal plane；
S3, using the forward sight distance of segmented adaptive and velocity correlation as the parameter taken aim in advance in method for tracing to agricultural machinery progress
Path following control.
2. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 1, its
It is characterised by, in step S22, the specific installation method of GNSS principals and subordinates antenna is：
1) bodywork reference frame is set up for agricultural machinery, bodywork reference frame Oxy is defined as using car body centroid position as origin O, transverse axis x is pointed to
Car body direction of advance, longitudinal axis y and transverse axis x is perpendicularly oriented to the left side of car body direction of advance；
2) double antenna fixed support is made, double antenna fixed support is the rectangular steel pipe that length is not less than 1.3m, installed in car body
At the top of tractor cab directly over barycenter, installation principle be steel pipe parallel to bodywork reference frame y-axis, it is symmetrical on origin O；
3) GNSS primary antennas are arranged on the support bracket fastened right-hand member of double antenna, support bracket fastened left end, principal and subordinate is arranged on from antenna
Antenna is symmetrical on the x-axis of bodywork reference frame.
3. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 1, its
It is characterised by, in step S24, in addition to the step of be filtered to roll angle, is specially：
Roll angle is filtered using kalman filter method, the accurate estimation of agricultural machinery roll angle, this Kalman filtering is obtained
State vector is vectorial for the roll angle and roll angle Speed Two Dimensions of agricultural machinery in device；Measurement amount is that double antenna GNSS receiver is obtained
The one-dimensional scalar of roll angle taken.
4. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 1, its
It is characterised by, in step S3,
Using the course angle of acquisition, agricultural machinery roll angle fine estimation by control point the primary antenna at the top of the agricultural machinery driver's cabin
Position project to agricultural machinery barycenter bottom, the step is realized using the coordinate conversion matrix of Eulerian angles, due to farm machinery navigation stable state
When be basically parallel to planning every trade and sail, influence very little of the angle of pitch to position deviation, therefore ignore the angle of pitch and exist to control point
The influence of position deviation in projection process.
5. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 1, its
It is characterised by, step S3 is specially：
An agricultural machinery tracking point is set on the planning operation row straight line of agricultural machinery direction of advance, is referred to as and takes aim in advance a little, control point
Pre- direction vector a little of taking aim at is pointed to as the bogey heading of agricultural machinery, the difference in the bogey heading of agricultural machinery and current course through amplitude limit at
The decision value at current agricultural machine wheel angle is used as after reason.
6. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 5, its
It is characterised by, makees to plan the vertical line of operation row by control point, the distance of control point to planning operation row straight line is
For position deviation, the distance a little to vertical line is taken aim in advance and is referred to as forward sight distance, the precision of wherein position deviation is to evaluate agricultural machinery to lead automatically
The good and bad core index of boat system, the size of forward sight distance directly influences agricultural machinery path following control effect, and forward sight distance is big,
Then position deviation corrective action is weak, and the control response time is long, but stability will not produce well big control concussion, forward sight distance
Small, then position deviation corrective action is strong, and the control response time is short, but may produce larger control concussion.
7. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 6, its
It is characterised by, the thinking for being dynamically determined forward sight distance is：
1. under the stable precondition do not shaken, forward sight distance with it is smaller be it is easy, with correction position deviation as early as possible, be beneficial to carry
High Navigation Control precision and upper linear velocity；
2. system concussion is caused to increase unstability enhancing because steering angle performs the reason such as delayed when agricultural machinery fair speed is travelled,
Forward sight distance should suitably be increased.
8. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 7, its
It is characterised by, under conditions of fixed agricultural machinery speed 1m/s, the line tracking of agricultural machinery is controlled with different forward sight distance parameters
Effect is tested, therefrom choose optimal straight line tracking forward sight distance parameter, using the apparent distance before this as line tracking forward sight away from
From minimum value；With 0.2m/s increasing velocities, pass through optimal forward sight distance, statistics under the conditions of the method searching friction speed of experiment
Test data, optimal forward sight distance is approximately directly proportional to 3/2nds power sides of speed, is write forward sight distance as a+v3/2Shape
Formula, only needs adjusting parameter a, and navigation system has good adaptability to speed.
9. the agricultural machinery self-navigation control method of tracing model is taken aim at based on double antenna GNSS and in advance according to claim 7, its
It is characterised by, position deviation is very big during due to reaching the standard grade that stability when being reached the standard grade for increase navigation system should suitably increase when reaching the standard grade
Forward sight distance, state when position deviation is more than into 15cm is considered as the state of reaching the standard grade, and position deviation is considered as straight line when being less than 15cm
Tracking mode is appropriate to increase a values during state of reaching the standard grade.
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