CN108762348A - A kind of greenhouse automatic control system - Google Patents
A kind of greenhouse automatic control system Download PDFInfo
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- CN108762348A CN108762348A CN201810429713.8A CN201810429713A CN108762348A CN 108762348 A CN108762348 A CN 108762348A CN 201810429713 A CN201810429713 A CN 201810429713A CN 108762348 A CN108762348 A CN 108762348A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25252—Microprocessor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2614—HVAC, heating, ventillation, climate control
Abstract
The invention belongs to field of agricultural production technologies, disclose a kind of greenhouse automatic control system, are provided with：Microprocessor, temperature sensor, humidity sensor, alarm module, relay, humidifier, air-conditioning, power module, GPRS communication modules.Temperature sensor, humidity sensor, alarm module, relay, power module, GPRS communication modules are electrically connected at microprocessor, and humidifier, air-conditioning are electrically connected at relay.The present invention acquires the indoor temperature of temperature and humidity information by temperature sensor and humidity sensor, humidifier and air-conditioning are controlled by microprocessor controls relay to adjust the indoor temperature and humidity of temperature, when humidity and temperature are less than setting value, it is alarmed by alarm module, mobile phone by GPRS communication modules to staff sends alarming short message, and staff is reminded to check greenhouse situation, high degree of automation in time, it is easy to operate, human resources are greatly saved.
Description
Technical field
The invention belongs to field of agricultural production technologies more particularly to a kind of greenhouse automatic control systems.
Background technology
Currently,
Currently, heliogreenhouse control technique experienced the evolution of decades so far.Initial stage is using instrument to greenhouse
The parameters such as illumination, temperature in facility measure, and reuse manually or electrically executing agency's (such as curtain, ventilation equipment) and apply
The simple control of row, with the progress of sensing element, instrument and actuation technologies, gradually develops into temperature, humidity, illumination etc.
Nearly all indoor environment parameter carries out automatically controlling respectively.The development of simultaneous computer technology makes the Comprehensive Control of environmental parameter
It is possibly realized.However, existing greenhouse automatic control system is immature, the degree of automation is not high, need hand inspection temperature and
Humidity, it is time-consuming and laborious, considerably increase production cost.
In conclusion problem of the existing technology is：Existing greenhouse automatic control system is immature, the degree of automation
It is not high, hand inspection temperature and humidity is needed, it is time-consuming and laborious, considerably increase production cost, the needs for the person of being unable to meet production.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of greenhouse automatic control systems.
The invention is realized in this way a kind of greenhouse automatic control system is provided with：
Microprocessor, temperature sensor, humidity sensor, alarm module, relay, humidifier, air-conditioning, power module,
GPRS communication modules.
Alarm module, for when temperature and humidity is less than setting value, alarming to remind staff, being electrically connected at institute
State microprocessor.
Power module is electrically connected at the microprocessor for providing electric power support to entire temperature-controlling system.
GPRS communication modules are reminded staff, are electrically connected in time for sending temperature and humidity information to staff
It is connected to the microprocessor.
The temperature sensor, humidity sensor, alarm module, relay, power module, GPRS communication modules are electrical
It is connected to the microprocessor, the humidifier, air-conditioning are electrically connected at the relay.
The temperature sensor, humidity sensor time alignment process complete pair in time between sensing data
Standard, the metric data of temperature sensor, humidity sensor under local rectangular coordinate system is respectively YA(ti) and YB(ti), and temperature
The sample frequency for spending sensor is more than the sample frequency of humidity sensor, then from temperature sensor to when the sampling of humidity sensor
Quarter is registrated, specially：
Using interpolation extrapolation temporal registration algorithm by data from the sampled data of temperature sensor to humidity sensor into
Row registration so that two sensors have the same target synchronous metric data, interpolation to extrapolate the time at the spatial registration moment
Registration Algorithm is as follows：
Each sensor observation data are subjected to increment sequence by measurement accuracy in same timeslice, then by temperature sensing
The observation data of device are respectively to the time point interpolation of humidity sensor, extrapolation, to form a series of equally spaced target observation numbers
According to, using common 3 parabolic interpolations carry out interpolation extrapolation temporal registration algorithm obtain temperature sensor in tBkMoment exists
Measuring value under local rectangular coordinate systemFor：
Wherein, tBkTo be registrated moment, tk-1,tk,tk+1When being sampled for three of temperature sensor distance registration moment recently
It carves, YA(tk-1),YA(tk),YA(tk+1) it is respectively its corresponding detection data to target；
After deadline registration, according to the sampled data of the registration data of temperature sensor and humidity sensor, using base
Consolidate the pseudo- measurement method under (Earth Center Earth Fixed, ECEF) coordinate system in ground heart and realizes temperature sensor and wet
Spend the estimation of the systematic error of sensor；Systematic error estimation algorithm based on ECEF is specially：
Assuming that k moment target actual position under local rectangular coordinate system is X'1(k)=[x'1(k),y'1(k),z'1
(k)]T, corresponding measuring value is under polar coordinate systemRespectively distance, azimuth, pitch angle；Conversion
It is X under to local rectangular coordinate system1(k)=[x1(k),y1(k),z1(k)]T；Sensing system deviation isRespectively distance, the systematic error at azimuth and pitch angle；Then have
WhereinIndicate observation noise, mean value zero, variance are
Formula (1) can be unfolded with first approximation and be write as matrix form：
X'1(k)=X1(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)
Wherein,
If two temperature sensors and B then (set under ECEF coordinate system as X' the same public targete=
[x'e,y'e,z'e]T), it can obtain
X'e=XAs+BAX'A1(k)=XBs+BBX'B1(k)\*MERGEFORMAT (4)
BA, BBRespectively position of the target under temperature sensor and humidity sensor local coordinate system is transformed into ECEF coordinates
System under position when transition matrix；
Definition puppet, which measures, is：
Z (k)=XAe(k)-XBe(k)\*MERGEFORMAT (5)
Wherein, XAe(k)=XAs+BAXA1(k)；XBe(k)=XBs+BBXB1(k)
Formula (2), formula (3) substitution formula (4) can be obtained into the pseudo-measurement about sensor bias
Z (k)=H (k) β (k)+W (k) * MERGEFORMAT (6)
Wherein,Z (k) is pseudo-measurement vector；H (k) is calculation matrix；β is
Sensor bias vector；W (k) is measurement noise vector；Due to nA(k),nB(k) it is that zero-mean, mutually independent Gaussian are random
Variable, therefore W (k) is equally zero-mean gaussian type stochastic variable, covariance matrix is R (k).
Further, the GPRS communication modules are by being wirelessly connected in remote monitoring mobile terminal.
Further, the microprocessor includes temperature control modules corresponding with temperature sensor, humidity sensor
And humidity control module；
The temperature control modules and humidity control module are used based on the pid parameter Self-tuning System algorithm from optimizing, are used
Increment type PID, to realize that high-precision control increases following improvement：
First, to reduce the High-frequency Interference caused by sampling with differential, digital filtering is introduced in this algorithm, to make
Degree of regulation higher, digital filtering have different methods, and what this algorithm was taken is first order filtering；
First order filtering method is exactly a kind of dynamic filter method for realizing RC low-pass filters in digital form, to one
RC low-pass filters, transmission function are：L (s)=1/ (τ s+1) wherein τ=RC is filter time constant, and the formula is discrete
Change can obtain：
e′k=α e 'k-1+(1-α)ek (1)
In formula：α=τ/(τ+T)；T is the sampling period；ekThe input of filter when being sampled for kth time；e′kFor kth time sampling
When filter output；e′k-1For the sampling of kth -1 time when filter output；Using equation (1) to deviation signal ekIt is repaiied
Just, then by revised deviation e 'kAs the deviation signal of kth time sampling instant, substitutes into PID formulas and calculated, just
Reduce influence of the High-frequency Interference to digital IIR filters formula；
Secondly, to reduce the overshoot caused by integral action, stable state accuracy is improved, this algorithm uses integral separation
Pid algorithm；For reduce because be manually entered and foreign impacts interference caused by vibrate, this algorithm adds amplitude limiting processing, that is, works as | e |
>ε, then Δ U=λ, the maximum fluctuation value that λ allows for you；
The threshold value △ e of one position of set-up of control system control, computer to the error e that is obtained after data processing into
Row judges, specific as follows：
If ε >=| e |>△ e carry out PD control, improve the dynamic characteristic of control,
When | e |<When △ e, PID control is carried out, ensures control accuracy, when | e |>When ε, Δ U=λ (constant).
Further, GPRS communication modules include：
Receiving module, is used to receive and microprocessor carries out the temperature sensor of communication for coordination, humidity sensor is sent
Data, to the data that receive, information is transferred to coding module respectively；
Coding module, the information for being acquired from receiving module reception temperature sensor, humidity sensor, according to default volume
Described information progress network code is obtained coding information by code algorithm, and the coding information is transferred to modulation module；
Modulation module, for from the coding module reception coding information, being modulated to the coding information, and
The data obtained after the modulation are transferred to sending module；
Sending module for receiving the data obtained after modulation from the coding module, and is sent.
Further, the coding module is specifically used for：
The information of the information and acquisition of temperature sensor and humidity sensor is encoded as the input of preset formula
Information；
The preset formula includes：T=0 .., m-1, l=0 ..., L-1；
Wherein, N is the number of the node in the communication for coordination set, and j=1 ..., N, j indicate the communication for coordination collection
Node j, n in conjunction indicate that the node, n are the positive integer less than or equal to N, Sj,i-tFor node j moment i preceding t moment
Information, m is positive integer, as t=0, Sj,iFor node j moment i information,Indicate the node n described in moment i
Coding information, l areFirst output bit, andL is positive integer, αj,lForFirst output ratio
The code coefficient of node j, α when specialj,l=0 or αj,l=1,Indicate mould 2 plus operation.
The present invention acquires the indoor temperature of temperature and humidity information by temperature sensor and humidity sensor, by micro-
Processor control relay controls humidifier and air-conditioning to adjust the indoor temperature and humidity of temperature, when humidity and temperature are low in turn
It when setting value, is alarmed by alarm module, and the mobile phone by GPRS communication modules to staff sends report
Alert short message, temperature control modules and humidity control module are used based on the pid parameter Self-tuning System algorithm from optimizing, using increment type
PID realizes the high-precision control of humiture, and network code is applied in Turbo Detection for Cooperative Communication by GPRS module, to information source section
The data of point and the collaboration companion's data to be forwarded carry out network code, improve the reliability in communication process, can
Staff is reminded to check greenhouse situation in time in time, high degree of automation is easy to operate, and human resources are greatly saved, and carries
High productivity effect.
Description of the drawings
Fig. 1 is greenhouse automatic control system structural schematic diagram provided in an embodiment of the present invention；
In figure：1, microprocessor；2, temperature sensor；3, humidity sensor；4, alarm module；5, relay；6, it humidifies
Device；7, air-conditioning；8, power module；9, GPRS communication modules.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, greenhouse automatic control system provided in an embodiment of the present invention includes：Microprocessor 1, temperature sensing
Device 2, humidity sensor 3, alarm module 4, relay 5, humidifier 6, air-conditioning 7, power module 8, GPRS communication modules 9.
Alarm module 4, for when temperature and humidity is less than setting value, alarming to remind staff, being electrically connected at
The microprocessor.
Power module 8 is electrically connected at the microprocessor for providing electric power support to entire temperature-controlling system.
GPRS communication modules 9 remind staff, electrically in time for sending temperature and humidity information to staff
It is connected to the microprocessor.
The temperature sensor 2, humidity sensor 3, alarm module 4, relay 5, power module 8, GPRS communication modules 9
It is electrically connected at the microprocessor 1, the humidifier 6, air-conditioning 7 are electrically connected at the relay 5.
The temperature sensor, humidity sensor time alignment process complete pair in time between sensing data
Standard, the metric data of temperature sensor, humidity sensor under local rectangular coordinate system is respectively YA(ti) and YB(ti), and temperature
The sample frequency for spending sensor is more than the sample frequency of humidity sensor, then from temperature sensor to when the sampling of humidity sensor
Quarter is registrated, specially：
Using interpolation extrapolation temporal registration algorithm by data from the sampled data of temperature sensor to humidity sensor into
Row registration so that two sensors have the same target synchronous metric data, interpolation to extrapolate the time at the spatial registration moment
Registration Algorithm is as follows：
Each sensor observation data are subjected to increment sequence by measurement accuracy in same timeslice, then by temperature sensing
The observation data of device are respectively to the time point interpolation of humidity sensor, extrapolation, to form a series of equally spaced target observation numbers
According to, using common 3 parabolic interpolations carry out interpolation extrapolation temporal registration algorithm obtain temperature sensor in tBkMoment exists
Measuring value under local rectangular coordinate systemFor：
Wherein, tBkTo be registrated moment, tk-1,tk,tk+1When being sampled for three of temperature sensor distance registration moment recently
It carves, YA(tk-1),YA(tk),YA(tk+1) it is respectively its corresponding detection data to target；
After deadline registration, according to the sampled data of the registration data of temperature sensor and humidity sensor, using base
Consolidate the pseudo- measurement method under (Earth Center Earth Fixed, ECEF) coordinate system in ground heart and realizes temperature sensor and wet
Spend the estimation of the systematic error of sensor；Systematic error estimation algorithm based on ECEF is specially：
Assuming that k moment target actual position under local rectangular coordinate system is X'1(k)=[x'1(k),y'1(k),z'1
(k)]T, corresponding measuring value is under polar coordinate systemRespectively distance, azimuth, pitch angle；Conversion
It is X under to local rectangular coordinate system1(k)=[x1(k),y1(k),z1(k)]T；Sensing system deviation isRespectively distance, the systematic error at azimuth and pitch angle；Then have
WhereinIndicate observation noise, mean value zero, variance are
Formula (1) can be unfolded with first approximation and be write as matrix form：
X'1(k)=X1(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)
Wherein,
If two temperature sensors and B then (set under ECEF coordinate system as X' the same public targete=
[x'e,y'e,z'e]T), it can obtain
X'e=XAs+BAX'A1(k)=XBs+BBX'B1(k)\*MERGEFORMAT (4)
BA, BBRespectively position of the target under temperature sensor and humidity sensor local coordinate system is transformed into ECEF coordinates
System under position when transition matrix；
Definition puppet, which measures, is：
Z (k)=XAe(k)-XBe(k)\*MERGEFORMAT (5)
Wherein, XAe(k)=XAs+BAXA1(k)；XBe(k)=XBs+BBXB1(k)
Formula (2), formula (3) substitution formula (4) can be obtained into the pseudo-measurement about sensor bias
Z (k)=H (k) β (k)+W (k) * MERGEFORMAT (6)
Wherein,Z (k) is pseudo-measurement vector；H (k) is calculation matrix；β is
Sensor bias vector；W (k) is measurement noise vector；Due to nA(k),nB(k) it is that zero-mean, mutually independent Gaussian are random
Variable, therefore W (k) is equally zero-mean gaussian type stochastic variable, covariance matrix is R (k).
The GPRS communication modules are by being wirelessly connected in remote monitoring mobile terminal.
Further, the microprocessor includes temperature control modules corresponding with temperature sensor, humidity sensor
And humidity control module；
The temperature control modules and humidity control module are used based on the pid parameter Self-tuning System algorithm from optimizing, are used
Increment type PID, to realize that high-precision control increases following improvement：
First, to reduce the High-frequency Interference caused by sampling with differential, digital filtering is introduced in this algorithm, to make
Degree of regulation higher, digital filtering have different methods, and what this algorithm was taken is first order filtering；
First order filtering method is exactly a kind of dynamic filter method for realizing RC low-pass filters in digital form, to one
RC low-pass filters, transmission function are：L (s)=1/ (τ s+1) wherein τ=RC is filter time constant, and the formula is discrete
Change can obtain：
e′k=α e 'k-1+(1-α)ek (1)
In formula：α=τ/(τ+T)；T is the sampling period；ekThe input of filter when being sampled for kth time；e′kFor kth time sampling
When filter output；e′k-1For the sampling of kth -1 time when filter output；Using equation (1) to deviation signal ekIt is repaiied
Just, then by revised deviation e 'kAs the deviation signal of kth time sampling instant, substitutes into PID formulas and calculated, just
Reduce influence of the High-frequency Interference to digital IIR filters formula；
Secondly, to reduce the overshoot caused by integral action, stable state accuracy is improved, this algorithm uses integral separation
Pid algorithm；For reduce because be manually entered and foreign impacts interference caused by vibrate, this algorithm adds amplitude limiting processing, that is, works as | e |
>ε, then Δ U=λ, the maximum fluctuation value that λ allows for you；
The threshold value △ e of one position of set-up of control system control, computer to the error e that is obtained after data processing into
Row judges, specific as follows：
If ε >=| e |>△ e carry out PD control, improve the dynamic characteristic of control,
When | e |<When △ e, PID control is carried out, ensures control accuracy, when | e |>When ε, Δ U=λ (constant).
GPRS communication modules include：
Receiving module, is used to receive and microprocessor carries out the temperature sensor of communication for coordination, humidity sensor is sent
Data, to the data that receive, information is transferred to coding module respectively；
Coding module, the information for being acquired from receiving module reception temperature sensor, humidity sensor, according to default volume
Described information progress network code is obtained coding information by code algorithm, and the coding information is transferred to modulation module；
Modulation module, for from the coding module reception coding information, being modulated to the coding information, and
The data obtained after the modulation are transferred to sending module；
Sending module for receiving the data obtained after modulation from the coding module, and is sent.
Coding module is specifically used for：
The information of the information and acquisition of temperature sensor and humidity sensor is encoded as the input of preset formula
Information；
The preset formula includes：T=0 .., m-1, l=0 ..., L-1；
Wherein, N is the number of the node in the communication for coordination set, and j=1 ..., N, j indicate the communication for coordination collection
Node j, n in conjunction indicate that the node, n are the positive integer less than or equal to N, Sj,i-tFor node j moment i preceding t moment
Information, m is positive integer, as t=0, Sj,iFor node j moment i information,Indicate the node n described in moment i
Coding information, l areFirst output bit, andL is positive integer, αj,lForFirst output ratio
The code coefficient of node j, α when specialj,l=0 or αj,l=1,Indicate mould 2 plus operation.
The present invention acquires the indoor temperature of temperature and humidity information by temperature sensor 2 and humidity sensor 3, passes through
Microprocessor 1 controls relay and then controls humidifier 6 and air-conditioning 7 to adjust the indoor temperature and humidity of temperature, when humidity and
It when temperature is less than setting value, is alarmed by alarm module 4, and gives the hand of staff by GPRS communication modules 9
Machine sends alarming short message, reminds staff to check greenhouse situation in time, high degree of automation is easy to operate, is greatly saved
Human resources improve productivity effect.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (5)
1. a kind of greenhouse automatic control system, which is characterized in that the greenhouse automatic control system is provided with：
Microprocessor, temperature sensor, humidity sensor, alarm module, relay, humidifier, air-conditioning, power module, GPRS
Communication module；
Alarm module, for when temperature and humidity is less than setting value, alarming to remind staff, being electrically connected at described micro-
Processor；
Power module is electrically connected at microprocessor for providing electric power support to entire temperature-controlling system；
GPRS communication modules are reminded staff, are electrically connected in time for sending temperature and humidity information to staff
Microprocessor；
The temperature sensor, humidity sensor, alarm module, relay, power module, GPRS communication modules are electrically connected
In the microprocessor, the humidifier, air-conditioning are electrically connected at relay；
The temperature sensor, humidity sensor time alignment process complete alignment in time between sensing data,
The metric data of temperature sensor, humidity sensor under local rectangular coordinate system is respectively YA(ti) and YB(ti), and temperature passes
The sample frequency of sensor be more than humidity sensor sample frequency, then the sampling instant from temperature sensor to humidity sensor into
Row registration, specially：
The temporal registration algorithm extrapolated using interpolation is matched the sampled data of temperature sensor to the data of humidity sensor
It is accurate so that two sensors have the same target synchronous metric data, interpolation extrapolation temporal registration at the spatial registration moment
Algorithm is as follows：
Each sensor observation data are subjected to increment sequence by measurement accuracy in same timeslice, then by temperature sensor
Data are observed respectively to the time point interpolation of humidity sensor, extrapolation, to form a series of equally spaced target observation data, are adopted
Temperature sensor is obtained in t with the interpolation extrapolation temporal registration algorithm that carries out of common 3 parabolic interpolationsBkMoment is in local
Measuring value under rectangular coordinate systemFor：
Wherein, tBkTo be registrated moment, tk-1,tk,tk+1For three sampling instants that the temperature sensor distance registration moment is nearest, YA
(tk-1),YA(tk),YA(tk+1) it is respectively its corresponding detection data to target；
After deadline registration, according to the sampled data of the registration data of temperature sensor and humidity sensor, using based on ground
Heart consolidates the pseudo- measurement method under (Earth Center Earth Fixed, ECEF) coordinate system and realizes that temperature sensor and humidity pass
The estimation of the systematic error of sensor；Systematic error estimation algorithm based on ECEF is specially：
Assuming that k moment target actual position under local rectangular coordinate system is X'1(k)=[x'1(k),y'1(k),z'1(k)]T, pole
Corresponding measuring value is under coordinate systemRespectively distance, azimuth, pitch angle；It converts to local straight
It is X under angular coordinate system1(k)=[x1(k),y1(k),z1(k)]T；Sensing system deviation isRespectively distance, the systematic error at azimuth and pitch angle；Then have
WhereinIndicate observation noise, mean value zero, variance are
Formula (1) can be unfolded with first approximation and be write as matrix form：
X'1(k)=X1(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT(3)
Wherein,
If two temperature sensors and B then (set under ECEF coordinate system as X' the same public targete=[x'e,y
'e,z'e]T), it can obtain
X'e=XAs+BAX'A1(k)=XBs+BBX'B1(k)\*MERGEFORMAT(4)
BA, BBUnder respectively position of the target under temperature sensor and humidity sensor local coordinate system is transformed into ECEF coordinate systems
Position when transition matrix；
Definition puppet, which measures, is：
Z (k)=XAe(k)-XBe(k)\*MERGEFORMAT(5)
Wherein, XAe(k)=XAs+BAXA1(k)；XBe(k)=XBs+BBXB1(k)
Formula (2), formula (3) substitution formula (4) can be obtained into the pseudo-measurement about sensor bias
Z (k)=H (k) β (k)+W (k) * MERGEFORMAT (6)
Wherein,Z (k) is pseudo-measurement vector；H (k) is calculation matrix；β is sensing
Device bias vector；W (k) is measurement noise vector；Due to nA(k),nB(k) be zero-mean, mutually independent Gaussian becomes at random
Amount, therefore W (k) is equally zero-mean gaussian type stochastic variable, covariance matrix is R (k).
2. greenhouse automatic control system as described in claim 1, which is characterized in that the GPRS communication modules pass through wireless
It is connected to remote monitoring mobile terminal.
3. greenhouse automatic control system as described in claim 1, which is characterized in that the microprocessor includes and temperature
The corresponding temperature control modules of sensor, humidity sensor and humidity control module；
The temperature control modules and humidity control module are used based on the pid parameter Self-tuning System algorithm from optimizing, using increment
Formula PID：
First, first order filtering is taken；
To a RC low-pass filter, transmission function is：L (s)=1/ (τ s+1) wherein τ=RC is filter time constant,
The formula discretization can be obtained：
e′k=α e 'k-1+(1-α)ek (1)
In formula：α=τ/(τ+T)；T is the sampling period；ekThe input of filter when being sampled for kth time；e′kTo be filtered when kth time sampling
The output of wave device；e′k-1For the sampling of kth -1 time when filter output；Using equation (1) to deviation signal ekIt is modified,
Then by revised deviation e 'kAs the deviation signal of kth time sampling instant, substitutes into PID formulas and calculated；
Secondly, separated integrator PID algorithm is used；Amplitude limiting processing is added, that is, works as | e |>ε, then Δ U=λ, λ allow most for you
Great fluctuation process value；
The threshold value △ e of one position of set-up of control system control, computer sentence the error e obtained after data processing
It is disconnected, it is specific as follows：
If ε >=| e |>△ e carry out PD control, improve the dynamic characteristic of control；
When | e |<When △ e, PID control is carried out, when | e |>When ε, Δ U=λ, constant.
4. greenhouse automatic control system as described in claim 1, which is characterized in that GPRS communication modules include：
Receiving module, the data for receiving with microprocessor carries out the temperature sensor of communication for coordination, humidity sensor is sent,
To the data that receive, information is transferred to coding module respectively；
Coding module, for from the information that receiving module receives temperature sensor, humidity sensor acquires, being calculated according to pre-arranged code
Described information progress network code is obtained coding information by method, and the coding information is transferred to modulation module；
Modulation module is modulated the coding information for receiving the coding information from the coding module, and by institute
It states the data obtained after modulation and is transferred to sending module；
Sending module for receiving the data obtained after modulation from the coding module, and is sent.
5. greenhouse automatic control system as claimed in claim 4, which is characterized in that the coding module is specific：By temperature
The information of the information and acquisition of sensor and humidity sensor obtains coding information as the input of preset formula；
The preset formula includes：T=0 .., m-1, l=0 ..., L-1；
Wherein, N is the number of the node in communication for coordination set, and j=1 ..., N, j indicate the section in the communication for coordination set
Point j, n indicate that the node, n are the positive integer less than or equal to N, Sj,i-tIt is node j in the information of the preceding t moment of moment i, m
For positive integer, as t=0, Sj,iFor node j moment i information,Indicate the coding information of the node n described in moment i,
L isFirst output bit, andL is positive integer, αj,lForFirst of output bit when node j
Code coefficient, αj,l=0 or αj,l=1,Indicate mould 2 plus operation.
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