CN108957487A - A kind of plant planter precise positioning and control method based on Beidou navigation - Google Patents
A kind of plant planter precise positioning and control method based on Beidou navigation Download PDFInfo
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- CN108957487A CN108957487A CN201810520697.3A CN201810520697A CN108957487A CN 108957487 A CN108957487 A CN 108957487A CN 201810520697 A CN201810520697 A CN 201810520697A CN 108957487 A CN108957487 A CN 108957487A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/02—Details of the space or ground control segments
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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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Abstract
Plant planter precise positioning and control method based on Beidou navigation of the invention, comprising: a) coordinate of record start point A；B) seeding operation；C) judges whether Distance (A, B) >=L is true, and establishment is then sowed, invalid to continue to sow；D) when works as Distance (A, B) >=L, kind is changed；E) when works as Distance (A, B) >=L+d, seeding operation；F) when works as Distance (A, B) >=n (L+d)-d, stop sowing and change kind；As Distance (A, B) >=n (L+d), reseed.Cell of the invention sows control method, 13 latitude and longitude coordinates that will acquire are split as 3 parts, every part carries out the operation of single-precision floating point type, positioning accuracy is up to Centimeter Level, the required precision for meeting cell sowing, solves the problems, such as that single precision MCU can not directly carry out double-precision floating point type data operation.
Description
Technical field
The present invention relates to a kind of precise positioning and control methods, more specifically, more particularly to a kind of by acquisition
Longitude and latitude data are split to reach the plant planter precise positioning based on Beidou navigation of positioning accuracy request and control
Method.
Background technique
Plant planter is a kind of accurate agricultural machinery dedicated for breeding experiment, and major function is according to small plot
(length is 3~5 meters) is sowed, to compare growth traits, the yield data of different seeds under same growing environment, into
Row seed breeding.
Plant planter seeding operation process is as shown in Figure of description 1, operation premise preplanning operation cell length L,
Minizone controls seed lowering position every the mode either manually or automatically controlled in d, operation process, reaches and sows by cell
Effect.
Early stage plant planter plans cell by way of drawing white line in the ground in advance, and operation process is white with artificial observation
The mode of line manually controls the position that seed is fallen；The mode that Later development is laid with measurement cable wire out in advance, cooperates electric-control system
To determine cell length and interval；In recent years, gradually to measure seeder in such a way that seeder travel wheel installs encoder
Travel distance, cooperation electric-control system automatically control sowing position；There is work on the spot in manual type and measurement cable wire mode
Although the problem that amount is big, working efficiency is low, error is big, coder mode improve work efficiency, but measure in practical operation
The problems such as there are the long accumulated errors of cell row greatly, headland turn needs manual intervention.In view of the above problems, the present invention is high using Beidou
Precision location technology realizes the accurate positioning to Work machine, accurately controls to carry out Centimeter Level to operation cell.
The earth is in the sphere ceaselessly rotated around the earth's axis, and waist draws a great circle vertical with the earth's axis in the earth
Circle is equidistant the every bit on circle all with north and south the two poles of the earth, this circle is just called " equator ".North and south two under the line
Side draws many circles parallel with equator, is exactly " latitude circle "；The line segment for constituting these circles, is called weft.We are equator
Be set to latitude zero degree, southwards northwards respectively be 90 degree, under the line on the south be south latitude, under the line to the north of be north latitude.
Secondly, the great circle vertical with terrestrial equator of many North and South directions can be drawn from the arctic point to Geophysical South Pole, this
It is called " longitude circle "；The line segment of these circles is constituted, warp is just.It is provided in the world to pass through the Greenwich in the London suburbs
The warp of observatory is as the starting point for calculating longitude, i.e. longitude zero degree zero zero second, also referred to as " first meridian ".In its east
For east longitude, total 180 degree；It is west longitude in its west, total 180 degree.
Each longitude and latitude can also be sub-divided into 60 points, each point be further divided into 60 seconds and second decimal.Utilize warp
Weft, we are assured that the specific location in each place on the earth.
Global Satellite Navigation System, (the Global Navigation Satellite System) is also referred to as global
Navigational satellite system, be can at the earth's surface or any place of terrestrial space for user provide it is round-the-clock 3 dimension coordinate (warp
Degree, latitude, height) and speed and temporal information space base radio-navigation positioning system, ubiquitous system have GPS, BDS,
Tetra- large satellite navigation system of GLONASS and GALILEO, in recent years, due to the high speed development of China's BEI-DOU position system (BDS),
Positioning accuracy greatly promotes, and high-accuracy position system cost is also greatly reduced, the application based on Beidou high-accuracy position system
It is more and more extensive.Real time dynamic measurement (Real Time Kinematic) location technology is the reality based on carrier phase observation data
When dynamic GNSS location technology, it is the developing new breakthrough of satellite positioning surveys technology, it can provide survey in real time
Three-dimensional localization of the website in specified coordinate system is as a result, and reach 1-2 centimetres of precision.Plant planter it is accurate control be exactly
Based on the location information of this Centimeter Level, the accurate control to the long precise measurement of cell row and seeder travel path is realized
System.
Summary of the invention
The present invention in order to overcome the shortcomings of the above technical problems, provides a kind of plant planter essence based on Beidou navigation
Certainly position and control method.
Plant planter precise positioning and control method based on Beidou navigation of the invention, if the length of sowing cell is
L, the spacing of neighboring community is d in colleague；It is characterized in that, being realized by following steps:
A) record start point coordinate, user are obtained after the starting point starting seeder in sowing field by Beidou navigation module
Take the latitude and longitude coordinates of starting point A；
B) controls seeder and carries out seeding operation；
C) in operation process, the latitude and longitude coordinates of current point B are obtained in real time, and are calculated between current point B and starting point A
Distance Distance (A, B), and judge whether Distance (A, B) >=L true, if set up, stop sowing, then execute step
It is rapid d), if invalid, continue to sow；
D) changes kind of an operation, as Distance (A, B) >=L, seeder by the seed retained carry out clear kind and change fill it is new
Seed, and continue on；
E) during seeder is advanced, current point is judged at a distance from starting point, as Distance (A, B) >=L+d
When, seeder re-starts seeding operation；
F) during the subsequent traveling of, as Distance (A, B) >=n (L+d)-d, seeder stops sowing, and carries out clear
Kind fills kind of an operation；As Distance (A, B) >=n (L+d), seeder restarting seeding operation, n=2,3,4 ...；
G) controls seeder according to line space and runs to next line after all cells in a line are sowed
Starting point is sowed, is sowed according to the cell that step a) to step f) carries out new a line, until field sowing finishes.
Plant planter precise positioning and control method based on Beidou navigation of the invention, the current point B and starting
The distance between point A is sought by following steps:
1) processing of latitude and longitude coordinates, the earth are considered as standard ball, and seeder is in the actual range in field between two o'clock
Surface distance as between two o'clock, surface distance can be sought by the longitude and latitude of two o'clock；If the latitude and longitude coordinates of starting point A are
(LonA, LatA), the latitude and longitude coordinates of current point B are (LonB, LatB), at following regular pair warp and weft degree value
Reason:
The positive value of east longitude degree of learning from else's experience, the negative value of west longitude degree of learning from else's experience, north latitude take 90- latitude value, and south latitude takes 90+ latitude value；Through
The latitude and longitude coordinates for A, B two o'clock that treated are respectively (MLonA, MLatA), (MLonB, MLatB)；
2) calculates the distance of point-to-point transmission, if the earth is regular sphere, mean radius R；According to longitude and latitude definition and triangle
Functional relation can obtain following calculation formula:
Dis tan ce (A, B)=π/180 R*Arc Cos (C) * (2)
Wherein, the mean radius R of the earth takes 6371.004m；
3) assumes that navigation area is located at the Northern Hemisphere, and latitude is not necessarily to carry out the processing of 90+ latitude value, then passes through triangular transformation
Formula (1) can be exchanged into:
4) initial data is split, and 13 longitude and latitude data of original obtained WGS84 format are divided into three parts, and three
It is respectively preceding 3 data, last 5 data and intermediate 5 data, is marked with D, M, F, transported with single-precision floating point type respectively
It calculates；
Then four input parameters LatA, LatB, MLonA, MLonB in formula (3) use LatA respectivelyD、LatAF、LatAM,
LatBD、LatBF、LatBM, MLonAD、MLonAF、MLonAM, MLonBD、MLonBF、MLonBM；Its corresponding relationship are as follows:
LatA=LatAD+LatAF+LatAM
LatB=LatBD+LatBF+LatBM
MLonA=MLonAD+MLonAF+MLonAM
MLonB=MLonBD+MLonBF+MLonBM
LatA, LatB, MLonA, MLonB after above-mentioned fractionation, which is brought into formula (3), to be obtained:
5) is further change in, and is further converted using triangular transformation and angle formula and is obtained final calculation formula:
C=U*V+U1*V1*W1 (10)
For the coordinate (LonB, LatB) of the coordinate (LonA, LatA) of the starting point A of acquisition, current point, successively through step
1) to after the processing of step 5), the value of C can be sought using formula (10), the value of C, which is then substituted into formula (2), can seek A
The distance between point and B point Dis tan ce (A, B).
The beneficial effects of the present invention are: the plant planter precise positioning and controlling party of the invention based on Beidou navigation
Method, in 13 latitude and longitude coordinates treatment processes to acquisition, first by the front three of data, five and intermediate five last
3 parts are split as, every part carries out the operation of single-precision floating point type and meets cell so that positioning accuracy can reach Centimeter Level and broadcast
Requirement when kind to seeder positioning accuracy, double-precision floating point type can not directly be carried out by solving existing low cost single precision MCU
The problem of data operation, reduces the cost based on Beidou high accuracy positioning and control device, and beneficial effect is significant, convenient for application
It promotes.
Detailed description of the invention
Fig. 1 is the systematic schematic diagram of the plant planter of the invention based on Beidou navigation；
Fig. 2 is the schematic diagram for carrying out cell sowing in the present invention in field；
Fig. 3 is the flow chart of the plant planter precise positioning based on Beidou navigation and control method of the invention.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, give the systematic schematic diagram of the plant planter of the invention based on Beidou navigation, shown in broadcast
It is mounted with Beidou navigation device on kind machine, for receiving the position signal of Beidou navigation satellite transmission, is provided with angle on seeder
Sensor and auxiliary driving device are spent, to realize the Function for Automatic Pilot of seeder.As shown in Fig. 2, give in the present invention
In field carry out cell sowing schematic diagram, during being tested to seed, the cell length sowed be usually 3~5m it
Between, to realize the sowing control of cell, positioning accuracy needs to reach Centimeter Level.
To realize the accurate control to plant planter, primary core function is to utilize Beidou high-accuracy position system
Real-time latitude and longitude information, calculate the accurate distance between two o'clock, this distance needs to reach the precision of Centimeter Level.Beidou positioning
The latitude and longitude information that system provides is to be output to control system according to NMEA0183 agreement.NMEA0183 agreement is American National
Marine Electronics association is the reference format that sea is formulated with electronic equipment.The unified standard association of satellite navigation is had become at present
View.Data frame of one frame based on NMEA0183 agreement is as shown below:
$GPGGA,hhmmss.ss,Latitude,N,Longitude,E,FS,NoSV,HDOP,msl,m,Altref,m,
DiffAge,DiffStation*cs<CR><LF>
Wherein Latitude is latitude, and Longitude is longitude, and format dddmm.mmmmmmmm: this is a kind of WGS-
Latitude and longitude standard format under 84 coordinate systems, WGS-84 coordinate system are that one kind is used exclusively for GPS geo-location system and established
Coordinate system, geometric meaning is: the origin of coordinate system is located at earth centroid, and z-axis is directed toward (International Time Bureau) BIH1984.0
Direction agreement earth pole (CTP) of definition, x-axis are directed toward the zero degree meridian plane of BIH1984.0 and the intersection point in the equator CTP, and y-axis passes through
Right hand rule determines.
It is the integer part of " degree " and the integer of " dividing " in longitude and latitude data format dddmm.mmmmmmmm, on the left of decimal point
There are 8 effective digitals on part, decimal point the right, are the fractional part of " dividing ".Such as: longitude 11701.02531968, latitude
3623.04430281。
The meridian total length about 40008km of the earth.It is average:
1 degree of latitude=about 111km
Latitude 1 divides=about 1.85km
1 second=about 30.9m of latitude
As it can be seen that the initial data (longitude and latitude data) for participating in calculating will at least protect to reach the computational accuracy of Centimeter Level
It is left to grade, preresearch estimates, the 5th can be only achieved a centimetre class precision after decimal point, and in order to reach the control of final Centimeter Level
Precision processed, the longitude and latitude data that original participation calculates at least to retain to decimal point after the 6th, participate in the floating-point calculated in total
Number effective digital 11, that is, need the processing capacity of at least double-precision floating point type.And major applications are in the core of intelligent agricultural machinery
Controller does not have the processing capacity of double-precision floating point type, to individually increase high Precision Processing device, can undoubtedly be significantly greatly increased
Electric-control system cost.
As shown in figure 3, giving the plant planter precise positioning of the invention based on Beidou navigation and control method
Flow chart, if the length of sowing cell is L, the spacing of neighboring community is d in colleague；It is realized by following steps:
A) record start point coordinate, user are obtained after the starting point starting seeder in sowing field by Beidou navigation module
Take the latitude and longitude coordinates of starting point A；
B) controls seeder and carries out seeding operation；
C) in operation process, the latitude and longitude coordinates of current point B are obtained in real time, and are calculated between current point B and starting point A
Distance Distance (A, B), and judge whether Distance (A, B) >=L true, if set up, stop sowing, then execute step
It is rapid d), if invalid, continue to sow；
D) changes kind of an operation, as Distance (A, B) >=L, seeder by the seed retained carry out clear kind and change fill it is new
Seed, and continue on；
E) during seeder is advanced, current point is judged at a distance from starting point, as Distance (A, B) >=L+d
When, seeder re-starts seeding operation；
F) during the subsequent traveling of, as Distance (A, B) >=n (L+d)-d, seeder stops sowing, and carries out clear
Kind fills kind of an operation；As Distance (A, B) >=n (L+d), seeder restarting seeding operation, n=2,3,4 ...；
G) controls seeder according to line space and runs to next line after all cells in a line are sowed
Starting point is sowed, is sowed according to the cell that step a) to step f) carries out new a line, until field sowing finishes.
Distance seeks flow chart between starting point A and current point B, is sought by following steps:
1) processing of latitude and longitude coordinates, the earth are considered as standard ball, and seeder is in the actual range in field between two o'clock
Surface distance as between two o'clock, surface distance can be sought by the longitude and latitude of two o'clock；If the latitude and longitude coordinates of starting point A are
(LonA, LatA), the latitude and longitude coordinates of current point B are (LonB, LatB), at following regular pair warp and weft degree value
Reason:
The positive value of east longitude degree of learning from else's experience, the negative value of west longitude degree of learning from else's experience, north latitude take 90- latitude value, and south latitude takes 90+ latitude value；Through
The latitude and longitude coordinates for A, B two o'clock that treated are respectively (MLonA, MLatA), (MLonB, MLatB)；
If on the basis of 0 degree of warp, according to the longitude and latitude of earth surface any two points can calculate this two
Surface distance between point sets the longitude and latitude of the first point A as (LonA, LatA), and the longitude and latitude of second point B is (LonB, LatB), presses
According to the benchmark of 0 degree of warp, the positive value (Longitude) of east longitude degree of learning from else's experience, west longitude degree of learning from else's experience negative value (- Longitude), north latitude taken
90- latitude value (90-Latitude), south latitude take 90+ latitude value (90+Latitude), then the two o'clock after above-mentioned process
It is counted as (MLonA, MLatA) and (MLonB, MLatB).
2) calculates the distance of point-to-point transmission, if the earth is regular sphere, mean radius R；According to longitude and latitude definition and triangle
Functional relation can obtain following calculation formula:
Dis tan ce (A, B)=π/180 R*Arc Cos (C) * (2)
Wherein, the mean radius R of the earth takes 6371.004m；
The earth is the spheroid of an intimate standard, its equatorial radius is 6378.140 kms, and polar radius is
6356.755 km, 6371.004 km of mean radius.If we assume that the earth is a perfect sphere, then its half
Diameter is exactly the mean radius of the earth.
3) assumes that navigation area is located at the Northern Hemisphere, and latitude is not necessarily to carry out the processing of 90+ latitude value, then passes through triangular transformation
Formula (1) can be exchanged into:
The main calculating parameter of formula is LatA, LatB and MLonA, MLonB, according to standard WGS84 representation,
Standard data format is dddmm.mmmmmmmm: the decimal point left side is the integer part of " degree " and the integer part of " dividing ", decimal
There are 8 effective digitals on point the right, is the fractional part of " dividing ".Such as: longitude 11701.02531968, latitude
3623.04430281。
The meridian total length about 40008km of the earth.It is average:
1 degree of latitude=about 111km
Latitude 1 divides=about 1.85km
1 second=about 30.9m of latitude
It is possible thereby to estimate, according to the longitude and latitude data that WGS84 format indicates, the 5th be can be only achieved li after decimal point
Meter accuracy, and in order to reach the control precision of final Centimeter Level, the longitude and latitude data that original participation calculates will at least retain
The 6th after to decimal point, floating number effective digital 11 calculated are participated in total.It is most of only to support single precision floating datum (32
Position floating number, effective digital 7) MCU be not support such high-precision calculating.
4) initial data is split, and by the longitude and latitude data of original 13 obtained WGS84 format, is divided into three parts, and three
It is respectively preceding 3 data, last 5 data and intermediate 5 data, is marked with D, M, F, transported with single-precision floating point type respectively
It calculates；
Then four input parameters LatA, LatB, MLonA, MLonB in formula (3) use LatA respectivelyD、LatAF、LatAM,
LatBD、LatBF、LatBM, MLonAD、MLonAF、MLonAM, MLonBD、MLonBF、MLonBM；Its corresponding relationship are as follows:
LatA=LatAD+LatAF+LatAM
LatB=LatBD+LatBF+LatBM
MLonA=MLonAD+MLonAF+MLonAM
MLonB=MLonBD+MLonBF+MLonBM
LatA, LatB, MLonA, MLonB after above-mentioned fractionation, which is brought into formula (3), to be obtained:
5) is further change in, and is further converted using triangular transformation and angle formula and is obtained final calculation formula:
C=U*V+U1*V1*W1 (10)
For the coordinate (LonB, LatB) of the coordinate (LonA, LatA) of the starting point A of acquisition, current point, successively through step
1) to after the processing of step 5), the value of C can be sought using formula (10), the value of C, which is then substituted into formula (2), can seek A
The distance between point and B point Dis tan ce (A, B).
The present invention has following advantage:
(1) high-precision, the real-time longitude and latitude distance based on WGS-84 format that the present invention realizes, which calculates, to be calculated
Method has reached the computational accuracy of double-precision floating point type, and test data is as follows:
As it can be seen that only there is single precision with double-precision floating point type Computing result and using calculation method of the present invention
The operation result of floating type MCU, computational accuracy have reached millimeter rank, have been more than the data essence of original longitude and latitude data
Degree, that is, stayed all precision of initial data, can meet control longitude requirement of the seeder cell sowing to Centimeter Level.
(2) inexpensive, the control method to plant planter that the present invention realizes is based on low-cost processes device, is sowing
On the basis of Electrical Control system original system, it is only necessary to increase high accuracy positioning module, without newly-increased high precision computation unit, not additionally
Increase cost, is suitble to agricultural machinery low cost, the demand of high reliability.
(3) plan implementation is rapid, flexibility is high.The precise positioning and controlling party to plant planter that the present invention realizes
Method, plan implementation are flexibly rapid.
(4) plant planter control method is accurate, no accumulated error.The plant planter controlling party that the present invention realizes
Method is based on Beidou high accuracy positioning information, real-time longitude and latitude and reaches a centimetre class precision apart from computational algorithm, and is based on WGS-
84 earth coordinates, no accumulated error.In big plot operation, mode is calculated compared to traditional cable wire positioning, encoder distance,
Control precision remains at a centimetre class precision, and no accumulated error is with the obvious advantage.
Claims (2)
1. a kind of plant planter precise positioning and control method based on Beidou navigation, if the length of sowing cell is L, colleague
The spacing of middle neighboring community is d；It is characterized in that, being realized by following steps:
A) record start point coordinate, user are obtained after the starting point starting seeder in sowing field by Beidou navigation module
The latitude and longitude coordinates of initial point A；
B) controls seeder and carries out seeding operation；
C) in operation process, in real time obtain current point B latitude and longitude coordinates, and calculate between current point B and starting point A away from
From Distance (A, B), and judge whether Distance (A, B) >=L is true, if set up, stops sowing, then follow the steps
D), if it is invalid, continue to sow；
D) changes kind of an operation, and as Distance (A, B) >=L, the seed retained is carried out clear kind and changed to fill new kind by seeder
Son, and continue on；
E) during seeder is advanced, judge that current point at a distance from starting point, as Distance (A, B) >=L+d, is broadcast
Kind machine re-starts seeding operation；
F) during the subsequent traveling of, as Distance (A, B) >=n (L+d)-d, seeder stop sowing, and carry out clear kind,
Fill kind of an operation；As Distance (A, B) >=n (L+d), seeder restarting seeding operation, n=2,3,4 ...；
G) controls seeder according to line space and runs to the sowing of next line after all cells in a line are sowed
Starting point is sowed according to the cell that step a) to step f) carries out new a line, until field sowing finishes.
2. the plant planter precise positioning and control method, feature according to claim 1 based on Beidou navigation exists
In the distance between the current point B and starting point A is sought by following steps:
1) processing of latitude and longitude coordinates, the earth are considered as standard ball, and seeder is in the actual range in field between two o'clock
Surface distance between two o'clock, surface distance can be sought by the longitude and latitude of two o'clock；If the latitude and longitude coordinates of starting point A are
(LonA, LatA), the latitude and longitude coordinates of current point B are (LonB, LatB), at following regular pair warp and weft degree value
Reason:
The positive value of east longitude degree of learning from else's experience, the negative value of west longitude degree of learning from else's experience, north latitude take 90- latitude value, and south latitude takes 90+ latitude value；Through handling
The latitude and longitude coordinates of A, B two o'clock afterwards are respectively (MLonA, MLatA), (MLonB, MLatB)；
2) calculates the distance of point-to-point transmission, if the earth is regular sphere, mean radius R；According to longitude and latitude definition and trigonometric function
Relationship can obtain following calculation formula:
Distance (A, B)=π/180 R*ArcCos (C) * (2)
Wherein, the mean radius R of the earth takes 6371.004m；
3) assumes that navigation area is located at the Northern Hemisphere, and latitude is not necessarily to carry out the processing of 90+ latitude value, then passes through triangular transformation formula
(1) it can be exchanged into:
4) initial data is split, and 13 longitude and latitude data of original obtained WGS84 format are divided into three parts, three parts point
Not Wei preceding 3 data, last 5 data and intermediate 5 data, marked respectively with D, M, F, with single-precision floating point type operation；
Then four input parameters LatA, LatB, MLonA, MLonB in formula (3) use LatA respectivelyD、LatAF、LatAM,
LatBD、LatBF、LatBM, MLonAD、MLonAF、MLonAM, MLonBD、MLonBF、MLonBM；Its corresponding relationship are as follows:
LatA=LatAD+LatAF+LatAM
LatB=LatBD+LatBF+LatBM
MLonA=MLonAD+MLonAF+MLonAM
MLonB=MLonBD+MLonBF+MLonBM
LatA, LatB, MLonA, MLonB after above-mentioned fractionation, which is brought into formula (3), to be obtained:
5) is further change in, and is further converted using triangular transformation and angle formula and is obtained final calculation formula:
W1=Cos (MLonAD-MLonBD)*Cos(MLonAF-MLonBF)*Cos(MLonAM-MLonBM)
-Cos(MLonAD-MLonBD)*Sin(MLonAF-MLonBF)*Sin(MLonAM-MLonBM)
-Sin(MLonAD-MLonBD)*Sin(MLonAF-MLonBF)*Cos(MLonAM-MLonBM)
-Sin(MLonAD-MLonBD)*Cos(MLonAF-MLonBF)*Sin(MLonAM-MLonBM)
(9)
C=U*V+U1*V1*W1 (10)
For the coordinate (LonB, LatB) of the coordinate (LonA, LatA) of the starting point A of acquisition, current point, successively extremely through step 1)
After the processing of step 5), the value of C can be sought using formula (10), the value of C, which is then substituted into formula (2), can seek A point and B
The distance between point Distance (A, B).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810520697.3A CN108957487B (en) | 2018-05-28 | 2018-05-28 | Accurate positioning and control method of district seeders based on Beidou navigation |
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| CN201810520697.3A CN108957487B (en) | 2018-05-28 | 2018-05-28 | Accurate positioning and control method of district seeders based on Beidou navigation |
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| CN108957487A true CN108957487A (en) | 2018-12-07 |
| CN108957487B CN108957487B (en) | 2020-01-31 |
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| CN201810520697.3A Active CN108957487B (en) | 2018-05-28 | 2018-05-28 | Accurate positioning and control method of district seeders based on Beidou navigation |
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