CN108008428A - Slave localization method and system under a kind of more agricultural machinery collaborative navigation operations - Google Patents
Slave localization method and system under a kind of more agricultural machinery collaborative navigation operations Download PDFInfo
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- CN108008428A CN108008428A CN201711129781.4A CN201711129781A CN108008428A CN 108008428 A CN108008428 A CN 108008428A CN 201711129781 A CN201711129781 A CN 201711129781A CN 108008428 A CN108008428 A CN 108008428A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000004807 localization Effects 0.000 title claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 238000005516 engineering process Methods 0.000 claims description 9
- 230000006872 improvement Effects 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the slave localization method and system under a kind of more agricultural machinery collaborative navigation operations, measurement host central point respectively, 3 points of slave central point and slave Chosen Point into triangle three back gauges, the angle between slave central point and Chosen Point line and slave central point and host center point line is calculated using obtained distance, utilize the angle between slave central point and Chosen Point line and slave central point and host center point line, slave course draws position of the slave relative to host relative to misalignment angle and the host center point in host course and the distance of slave central point.System includes host locating module, distance-measurement module, slave heading measure module and computing module.The present invention builds triangle relation between host and slave, and combines the relative position between slave course deviation calculating slave and host, reduces the slave positioning difficulty and cost under more agricultural machinery collaborative navigation operations, improves slave positioning accuracy.
Description
Technical field
The invention belongs to automatic steering control of farm mechanism technical field, under more particularly to a kind of more agricultural machinery collaborative navigation operations
Slave localization method and system.
Background technology
With the development of modern agriculture scientific and technological level, to further improve agricultural machinery working efficiency, reducing operating cost, agricultural
Production gradually develops from tradition machinery to directions such as intelligence, scale, industrialization, starts more of the same race or xenogenesis occurred
Agricultural machinery work compound pattern, traditional unit airmanship have been no longer desirable for the pattern.Therefore, more agricultural machinery collaborative navigation technologies
It is the inexorable trend of following farm machinery navigation.More agricultural machinery location technologies are one of core technologies of more agricultural machinery collaborative navigation technologies.Root
According to the prior art, if more agricultural machinery positioning are realized, it is necessary to install GNSS high-accuracy position systems on every agricultural machinery, but the system valency
Lattice are higher, and for more agricultural machinery workings of scale, its cost will greatly increase.
The content of the invention
The technical problem to be solved in the present invention is a kind of, there is provided slave localization method under more agricultural machinery collaborative navigation operations and
System, builds triangle relation between host and slave, and combines opposite between slave course deviation calculating slave and host
Position, reduces slave positioning difficulty and cost under more agricultural machinery collaborative navigation operations, improves slave positioning accuracy.
In order to solve the above technical problems, skill used by slave localization method under the more agricultural machinery collaborative navigation operations of the present invention
Art scheme is：
A kind of slave localization method under more agricultural machinery collaborative navigation operations, comprises the following steps：
S1：Respectively 3 points of measurement host central point, slave central point and slave Chosen Point into triangle three back gauges, its
Middle slave central point is parallel with slave body course with the line of slave Chosen Point；
S2：Slave central point is calculated using obtained distance with Chosen Point line and slave central point with host center point to connect
Angle between line；
S3：Using the angle between slave central point and Chosen Point line and slave central point and host center point line,
Slave course show that slave is opposite relative to misalignment angle and the host center point in host course with the distance of slave central point
In the position of host.
In the above-mentioned technical solutions, build the angular position relation between host and slave, using three back gauges calculate from
Angle of the machine central point with Chosen Point line relative to slave central point and host center point line, and it is opposite to combine slave course
Misalignment angle in host course, you can establish slave-position of host machine equation, draw slave relative to the position relationship of host with
And position.This method only needs positioning host position, without being positioned to other positions, so as to greatly simplify slave positioning
Implementation and computation complexity, reduce slave positioning difficulty, can more be rapidly performed by slave positioning, and can be significantly
Reduce the technical costs of slave positioning and more agricultural machinery collaborative navigations；This method can obtain slave and be closed relative to the position of host
System and position, thus slave positioning accuracy higher, more can intuitively reflect the relative position relation between slave and host,
It is more favorable to carry out collaborative navigation between more agricultural machinery.
As an improvement, draw the angle of deviation of the slave course relative to host course by measuring the course angle of slave body
Degree, it is easy to implement.
As an improvement, carrying out the measurement of distance described in step S1 by super wide frequency technology, which has anti-interference
By force, the features such as penetration capacity is high, effectively avoids field barrier from influencing, and range accuracy is high.
As an improvement, in above-mentioned step S3, based on the coordinate system built using host course as axis, slave center is utilized
Point and the angle between Chosen Point line and slave central point and host center point line and slave course are navigated relative to host
To misalignment angle obtain slave central point and host center point line relative to the angle in host course, utilize the angle
Just, cosine value draws coordinate position of the slave relative to host.Slave-position of host machine coordinate side can be built using the technical program
Journey, obtains slave relative to the coordinate position relation of host and the coordinate position of slave, calculate it is easy, and due to obtaining
It is slave relative to the coordinate position relation of host and the coordinate position of slave, thus slave positioning accuracy higher, more can be directly perceived
The relative position relation reflected between slave and host, be more favorable to carry out collaborative navigation between more agricultural machinery.
In order to solve the above technical problems, skill used by slave alignment system under the more agricultural machinery collaborative navigation operations of the present invention
Art scheme is：
A kind of slave alignment system under more agricultural machinery collaborative navigation operations, including host locating module, distance-measurement module,
Slave heading measure module and computing module, wherein：
The host locating module is used to carry out host positioning；
The distance-measurement module is used for measurement host central point, slave central point and 3 points of slave Chosen Point institute into triangle
Three back gauges, wherein slave central point is parallel with slave body course with the line of slave Chosen Point；
The slave heading measure module is used to measure misalignment angle of the slave course relative to host course；
The computing module is used to calculate slave position；
The above-mentioned wired or wireless connection of each module.
In the above-mentioned technical solutions, the angular position relation between host and slave is built, is surveyed using distance-measurement module
Three back gauges are measured, computing module calculates slave central point and Chosen Point line and slave central point and master according to distance measurement data
Angle between machine central point line.Slave course that slave heading measure module obtains is combined relative to host course
The position of slave is calculated in misalignment angle and the position of host machine information obtained using host locating module, computing module.This
System only needs positioning host position, without being positioned to other slaves, thus need to only use a set of GNSS positioners and
Other above-mentioned modules, use cost is lower relative to more set GNSS positioners, and each module in the system uses operation
Simplicity, so as to greatly simplify system design and slave positioning implementation and computation complexity, reduces slave positioning difficulty, energy
It is enough to be more rapidly performed by slave positioning, and can substantially reduce the technology of slave positioning and more agricultural machinery collaborative navigations into
This；The system can obtain position relationship and position of the slave relative to host, thus slave positioning accuracy higher, more can be straight
The relative position relation reflected between slave and host seen, is more favorable to carry out collaborative navigation between more agricultural machinery.
As an improvement, the computing module has display unit, can real-time display host and slave position, so as to
Intuitively see the relative position relation between slave and host, be more advantageous to carrying out collaborative navigation between more agricultural machinery.
As an improvement, sensor of the slave heading measure module for the course angle of measurement slave body, easy to use,
High certainty of measurement.
To sum up, the present invention can greatly simplify the implementation of the slave positioning in more agricultural machinery collaborative navigations and calculate complicated
Degree, reduce slave positioning difficulty, can more be rapidly performed by slave positioning, and can substantially reduce slave positioning and it is more
The technical costs of agricultural machinery collaborative navigation；The present invention can obtain position relationship and position of the slave relative to host, and slave is fixed
Position precision is high, more can intuitively reflect the relative position relation between slave and host, be more favorable between more agricultural machinery into
Row collaborative navigation.
Brief description of the drawings
Fig. 1 is host-slave position relationship geometrized structure graph of the first embodiment of the invention.
Fig. 2 is host-slave position relationship geometrized structure graph of second of embodiment of the invention.
Fig. 3 is host-slave position relationship geometrized structure graph of the third embodiment of the invention.
Fig. 4 is the host-slave position relationship geometrized structure graph for inventing the 4th kind of embodiment.
In figure：1, host；2, slave.
Embodiment
Fig. 1 shows the first embodiment of the present invention.Under more agricultural machinery collaborative navigation operations, for host 1 and appoint
For one slave 2, the slave localization method under more agricultural machinery collaborative navigation operations comprises the following steps：
S1：Respectively 3 points of measurement host 1 central point, 2 central point of slave and 2 Chosen Point of slave into triangle three back gauges
From wherein 2 central point of slave is parallel with 2 body course of slave with the line of 2 Chosen Point of slave.
In the present embodiment, 2 Chosen Point of slave is 2 front end centre position of slave.
In the present embodiment, the measurement of three back gauges is carried out using the SDS-TWR distance measuring methods in super wide frequency technology, with
Exemplified by distance between 2 central point of 1 central point of measurement host and slave, 2 central point of slave is sent a message to by 1 central point of host,
Transmission time is Ttof, after 2 central point of slave receives response signal, wait TbreplyAfter time, 1 central point of host is fed back to,
Transmission time is also Ttof, this process total time is T1；To reduce clock drift effect, 1 central point of host is receiving response
After signal, T is waitedareplyAfter time, 2 central point of slave is fed back to again, and transmission time is also Ttof, this process total time is
T2；The final signal transmission time measured between 2 central point of 1 central point of host and slaveIt is main
Distance between 2 central point of 1 central point of machine and slave is cTtof。
In the present embodiment, experimental measurement can be taken in advance, will utilize the result of SDS-TWR distance measuring methods measurement
Compared with the distance actually measured using scale, analytical error producing cause, carries out parameter correction.When SDS-TWR distance measuring methods
Measurement result and measured result error reach setting range after, you can the slave 2 being actually used in more agricultural machinery collaborative navigations
Positioning.
S2：2 central point of slave and Chosen Point line and 2 central point of slave and host 1 are calculated using three obtained back gauges
Angle between central point line.
The distance of 2 front end centre position of slave and 2 central point of slave is denoted as L0, 2 front end centre position of slave and host 1
The distance of central point is denoted as L1, 2 central point of slave and the length of 1 central point of host are denoted as L2, 2 central point of slave and slave 2 are selected
Point line is θ relative to the angle between 1 central point line of 2 central point of slave and host, then according to formulaCalculate the angle.
S3：Utilize the angle between 2 central point of slave and Chosen Point line and 2 central point of slave and 1 central point line of host
Degree, 2 course of slave relative to the misalignment angle and 1 central point of host in 1 course of host and the distance of 2 central point of slave draw from
Machine 2 relative to host 1 position.Wherein, show that 2 course of slave is navigated relative to host 1 by measuring the course angle of 2 body of slave
To misalignment angle, and the misalignment angle is denoted as δ.
Specifically, in step s3, based on the coordinate system built using 1 course of host as axis, for example, by 1 course of host make
For y-axis, constructed coordinate system is as shown in Figure 1,1 center point coordinate of host is denoted as (x0,y0), then it can draw 2 central point of slave
Relative to the angle in 1 course of host it is δ+θ with 1 central point line of host, and calculates the position coordinates (x of 2 central point of slave1,
y1)：x1=x0-L2sin(δ+θ)、y1=y0-L2cos(δ+θ)。
In the present embodiment, under more agricultural machinery collaborative navigation operations, for host 1 and any slave 2, more agricultures
Slave alignment system under machine collaborative navigation operation includes host locating module, distance-measurement module, slave heading measure module
And computing module, wherein：
Host locating module is positioned for carrying out host 1, GNSS can be used to position；The advanced row distance of distance-measurement module
Calibration experiment is measured, correction module parameter, is subsequently used for 2 Chosen Point three of 1 central point of measurement host, 2 central point of slave and slave
Point into triangle three back gauges, measuring principle is as previously described.Wherein the line of 2 central point of slave and 2 Chosen Point of slave with from
2 body course of machine is parallel, and in the present embodiment, 2 Chosen Point of slave is 2 front end centre position of slave.Slave heading measure mould
Block is used to measure misalignment angle of 2 course of slave relative to 1 course of host, in the present embodiment, slave heading measure module
The equipment such as angular transducer can be used.At the beginning, the course of slave 2 and host 1 is in original state, in operation process for operation
In, slave heading measure module measures the situation of change of the course angle of 2 body of slave in real time, can also utilize the module to host
1 body course measures, so that draw misalignment angle of 2 course of slave relative to 1 course of host, easy to use, measurement essence
Degree is high.
Computing module is used to calculate 2 position of slave, and computing module can be used wired with above-mentioned each module or wirelessly connected
Connect, computing module receives the data of above-mentioned each module, and utilizes the slave positioning side under foregoing more agricultural machinery collaborative navigation operations
Computational methods in method calculate the position of 2 central point of angle and slave between 1 central point line of 2 central point of slave and host
Coordinate.
In the present embodiment, computing module has display unit, such as can use computer, real-time display host 1
Coordinate and 2 coordinate of slave calculated, so as to intuitively see the relative position relation between slave 2 and host 1, more
Be conducive to carry out collaborative navigation between more agricultural machinery.
The present invention can greatly simplify implementation and the computation complexity that the slave 2 in more agricultural machinery collaborative navigations positions, drop
Low 2 positioning difficulty of slave, can more be rapidly performed by slave 2 and position, and can substantially reduce slave 2 and position and more agricultures
The technical costs of machine collaborative navigation；The present invention can either draw position relationship of the slave 2 relative to host 1, but can obtain from
2 position of machine, 2 positioning accuracy of slave is high, more can intuitively reflect the relative position relation between slave 2 and host 1, also more have
Beneficial to carrying out collaborative navigation between more agricultural machinery.
Fig. 2 shows second of embodiment of the present invention, and difference lies in slave 2 with the first embodiment for it
Chosen Point is no longer 2 front end centre position of slave, but 2 rear end centre position of slave, so resulting in the present embodiment
2 central point of slave and 2 Chosen Point line of slave relative to the angle, θ between 1 central point line of 2 central point of slave and host '
It it is 180 ° with the sum of the θ in the first embodiment.
Misalignment angle δ of 2 course of slave relative to 1 course of host is obtained also according to the first embodiment, it is possible to
Sin (δ+θ)=sin (θ '-δ)=cos (- 90 ° of θ '-δ) is calculated, so that the position coordinates of 2 central point of slave can also be drawn.
Fig. 3 shows the third embodiment of the present invention, and difference lies in slave 2 with the first embodiment for it
Chosen Point is no longer 2 front end centre position of slave, but any on 2 central point of slave to 2 front end centre position line of slave
Point (not including 2 central point of slave), L is denoted as by the distance of 2 Chosen Point of slave and 2 central point of slave0, remaining content still according to
The first embodiment carries out.
Fig. 4 shows the 4th kind of embodiment of the present invention, and difference lies in slave 2 with second of embodiment for it
Chosen Point is no longer 2 rear end centre position of slave, but any on 2 central point of slave to 2 rear end centre position line of slave
Point (not including 2 central point of slave), L is denoted as by the distance of 2 Chosen Point of slave and 2 central point of slave0, remaining content still according to
Second of embodiment carries out.
It these are only the better embodiment of the present invention, be not intended to limit the invention, it is all in the spiritual and former of the present invention
Within then, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (7)
1. the slave localization method under a kind of more agricultural machinery collaborative navigation operations, comprises the following steps：
S1：Respectively 3 points of measurement host central point, slave central point and slave Chosen Point into triangle three back gauges, wherein from
Machine central point is parallel with slave body course with the line of slave Chosen Point；
S2：Using obtained distance calculate slave central point and Chosen Point line and slave central point and host center point line it
Between angle；
S3：Utilize the angle between slave central point and Chosen Point line and slave central point and host center point line, slave
Course draws slave relative to master relative to misalignment angle and the host center point in host course and the distance of slave central point
The position of machine.
2. the slave localization method under a kind of more agricultural machinery collaborative navigation operations according to claim 1, it is characterised in that：It is logical
The course angle for crossing measurement slave body draws misalignment angle of the slave course relative to host course.
3. the slave localization method under a kind of more agricultural machinery collaborative navigation operations according to claim 1, it is characterised in that：It is logical
Cross the measurement that super wide frequency technology carries out distance described in step S1.
4. the slave localization method under a kind of more agricultural machinery collaborative navigation operations according to any one of claim 1 to 3, its
It is characterized in that：In step s3, based on the coordinate system built using host course as axis, slave central point and Chosen Point line are utilized
Angle and slave course between slave central point and host center point line are obtained relative to the misalignment angle in host course
Angle to slave central point and host center point line relative to host course, using the angle just, cosine value draw from
Machine relative to host coordinate position.
A kind of 5. slave alignment system under more agricultural machinery collaborative navigation operations, it is characterised in that：Including host locating module, distance
Measurement module, slave heading measure module and computing module, wherein：
The host locating module is used to carry out host positioning；
The distance-measurement module be used for 3 points of measurement host central point, slave central point and slave Chosen Point into the three of triangle
Back gauge, wherein slave central point are parallel with slave body course with the line of slave Chosen Point；
The slave heading measure module is used to measure misalignment angle of the slave course relative to host course；
The computing module is used to calculate slave position；
The above-mentioned wired or wireless connection of each module.
6. the slave alignment system under a kind of more agricultural machinery collaborative navigation operations according to claim 5, it is characterised in that：Institute
Stating computing module has display unit.
7. the slave alignment system under a kind of more agricultural machinery collaborative navigation operations according to claim 5 or 6, its feature exist
In：The slave heading measure module is the sensor of the course angle of measurement slave body.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109781108A (en) * | 2018-12-29 | 2019-05-21 | 丰疆智慧农业股份有限公司 | Agricultural machinery localization method and its positioning system |
| CN110286676A (en) * | 2019-06-11 | 2019-09-27 | 江苏理工学院 | A kind of a variety of agricultural machinery coordinated operation systems based on self-navigation |
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- 2017-11-15 CN CN201711129781.4A patent/CN108008428A/en active Pending
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| WO2015054866A1 (en) * | 2013-10-17 | 2015-04-23 | Nokia Technologies Oy | A relative positioning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109781108A (en) * | 2018-12-29 | 2019-05-21 | 丰疆智慧农业股份有限公司 | Agricultural machinery localization method and its positioning system |
| CN110286676A (en) * | 2019-06-11 | 2019-09-27 | 江苏理工学院 | A kind of a variety of agricultural machinery coordinated operation systems based on self-navigation |
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