CN109115225A - A kind of unmanned operation grain combine air navigation aid and navigation device - Google Patents
A kind of unmanned operation grain combine air navigation aid and navigation device Download PDFInfo
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- CN109115225A CN109115225A CN201811009653.0A CN201811009653A CN109115225A CN 109115225 A CN109115225 A CN 109115225A CN 201811009653 A CN201811009653 A CN 201811009653A CN 109115225 A CN109115225 A CN 109115225A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a kind of unmanned operation grain combine air navigation aids, belong to intelligent agricultural machinery equipment field, Beidou RTK locating module is merged with vision ccd sensor, propose a kind of instant navigation path planning algorithm, independent navigation is realized without sampling site artificial before operation, and the unified estimator based on simplified Unscented kalman filtering construction farm machinery navigation tracking mode, realize the state estimation under the conditions of the turning of harvester wide-angle and straight-line travelling.The invention also discloses a kind of navigation devices for grain combine AUTONOMOUS TASK, are combined agricultural machinery and implement, airborne sensor, actuator and CPU using CAN bus, so that navigation system is easy to extend, installs and safeguard.
Description
Technical field
The present invention relates to intelligent agricultural machinery equipment field more particularly to a kind of unmanned operation grain combine air navigation aids
With navigation device.
Background technique
Agricultural machinery independent navigation is the important component of intelligent agricultural machinery equipment Development, with microelectronics, software and Beidou
The development of location technology, the high-precision global position system cost based on real-time dynamic carrier phase difference technology (RTK) are significant
It reduces.Existing agricultural machinery independent navigation process is divided into path planning, Navigation Control two parts, and wherein path planning is generally divided into
Two kinds of field geographical information collection, field Boundary Recognition are required to carry out the acquisition of geography information in advance, and Navigation Control is realized
Agricultural machinery is travelled by scheduled expected path, and feeds back real-time monitoring vehicle according to the execution of running gear.
Positioning system based on Beidou RTK is influenced vulnerable to more radio station crosstalks, signal blocks and transmission delay etc., develops base
It is most important to the reliability for improving grain combine AUTONOMOUS TASK in the autonomous navigation system of Multi-sensor Fusion.Though
So received significant attention based on positioning and the agricultural machinery automated driving system of airmanship, but the global path planning of agricultural machinery,
Edge of a field shift control algorithm and its application on combine harvester are also very rare, and especially artificial geography information is adopted in advance
Collection reduces the superiority of unmanned agricultural machinery AUTONOMOUS TASK system.
Summary of the invention
To overcome the deficiencies in the prior art, the present invention provides a kind of unmanned operation grain combine navigation side
Method and navigation device.
To achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of unmanned operation grain combine air navigation aid, Beidou RTK locating module and vision ccd sensor are melted
It closes, designs instant path planning algorithm, realize navigation path planning；Navigation tracking error of the design based on SUKF is uniformly estimated
Gauge realizes that the straight-line travelling of harvester and the edge of a field turn to；Instant path planning algorithm, navigation tracking error are uniformly estimated
Gauge is applied in the navigation device of combine harvester, and navigation path planning and unified estimator are integrated into CPU, adopts
It is communicated with CAN bus with actuator and airborne sensor, realizes that the travelling control of harvester and equipment control.
Further, the instant path planning algorithm specifically: utilize camera to acquire simultaneously in combine operation
Field boundary image, and field boundary is obtained after CPU is analyzed, utilize the position of Beidou RTK locating module output, heading device
Breath, obtains four apex coordinates of rectangle field in real time, and is converted to Gauss plane coordinate system, realizes guidance path rule
It draws, and is stored in navigation device in the form of two-dimensional array.
Further, the unified estimator of the navigation tracking mode is as follows: setting combine harvester walking states to be estimated
For xk=[xk yk θk φk]T, the biasing mistake in course is surveyed including the current two-dimensional position of combine harvester, course and double antenna
Difference, uk-1=[u1 u2] it is left and right wheels input speed control item, system model are as follows: xk=Φk|k-1xk-1+Gk-1uk-1+wk-1,
InΦk|k-1For state-transition matrix, Gk-1For
System input control matrix, wk-1For RTK system noise, the biased error including position and course noise and heading measure,
θkFor the course angle of k moment vehicle and earth real north, W is combine harvester wheelbase.It is that measurement is defeated with position and course
Out, the measurement equation of system is zk=Hxk+vk, whereinvkTo measure noise error battle array, including RTK
Systematic survey noise, i.e. position, course measurement noise.Above system equation and measurement equation be not different line tracking and
Curve tracks process, and estimator is quantity of state itself, is unable to satisfy in lienarized equation since course angle numerical value is generally large
Low-angle it is assumed that need to using non-linear filtering method realize quantity of state estimation.
Further, the nonlinear filtering of the unified estimator of the navigation tracking error are as follows:
1) the state dimension of unified estimator is set as n, the state probability Density Distribution p at k-1 momentk-1MeetWhereinPk-1|k-1The respectively mean value and covariance at k-1 moment generates 2n+1
Symmetrical sigma point χiWith weight ωiMatch pk-1, then have:
Wherein i is that sigma point indexes, i=1 ..., 2n+1,κ is proportionality coefficient；
2) SUKF status predication process are as follows:
WhereinFor k moment status predication mean value, Pk|k-1Variance, Q are predicted for the k momentk-1For k-1 moment system noise
Variance matrix；
3) SUKF measures renewal process are as follows:
Kk=Pk|k-1HT(HPk|k-1HT+Rk)-1
Wherein: KkFor filtering gain,And Pk|kRespectively state Posterior estimator is as a result, RkFor measure noise variance matrix,
I is the unit matrix with corresponding dimension.
Further, the calculating process of the navigation tracking error are as follows: the k moment utilizes o point position (x0, y0) and course θ letter
Breath calculates programme path point P nearest with a distance from o pointk, and establish PkThe linear equation of former point and latter point calculates point o extremely
The distance of the straight line obtains lateral deviation d；The forward sight distance of selected navigation tracking process is L, is worked as by the position point o and harvester
Preceding course angle calculates a point position, and the nearest point P of distance a point is searched in the two-dimensional array of programme pathk+n, connect oPk+n?
To the current desired course θ of combine harvestere, then course deviationCalculating it is as follows:Wherein
L1、L2Respectively oPk+n、aPk+nLength.
A kind of unmanned operation grain combine navigation device, including Beidou RTK locating module, vision ccd sensor,
Integrated remote communication module, angular transducer and CPU, vision ccd sensor and Beidou RTK locating module obtain corresponding
CPU is transferred to after information, integrated remote communication module is communicated with CPU, realizes of long-range monitoring and history field job information
Match, angular transducer is sent to CPU for detecting harvester front-wheel steer angle, is used for control decision；Navigation tracking shape
The unified estimator of state is run in CPU, the unified estimator navigation by recognition tracking error for tracking mode of navigating, in conjunction with angle
Sensor output, is communicated using CAN bus, realizes that harvester travelling control and equipment control.
In above scheme, field boundary, the Beidou RTK locating module are used for the vision ccd sensor for identification
Geography information is obtained, the vision ccd sensor is camera.
A kind of unmanned operation grain combine air navigation aid provided by the invention and navigation device compare existing skill
Art has the advantages that
Using instant path planning algorithm, harvester independent navigation is completed without artificial sampling site in advance, improves joint
The unmanned level of operation of harvester；It introduces SUKF and constructs the unified estimator of straight-line travelling and curve driving navigation error,
Navigational state estimation when wide-angle turning and straight-line travelling can be achieved, improve the reliability of navigation device；Guidance path rule
It draws and is integrated into embedded type CPU with unified estimator, improve modularization, the integrated level of navigation device.
Detailed description of the invention
Fig. 1 is navigation device structure chart；
Fig. 2 is instant path planning schematic diagram；
Fig. 3 is that navigation error calculates schematic diagram.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
As shown in Figure 1, a kind of unmanned operation grain combine navigation device, including Beidou RTK locating module, vision
Ccd sensor, integrated remote communication module, angular transducer and CPU (EPC9600), vision ccd sensor and Beidou RTK
After locating module identifies field boundary, obtains geography information, it is transferred to CPU by USB interface, 232 serial ports respectively, is integrated remote
Journey communication module is communicated by 485 serial ports with CPU, realizes the matching of long-range monitoring and history field job information, angle sensor
Device is sent to CPU for detecting combine harvester front-wheel steer angle, is used for control decision；The unification for tracking mode of navigating
Estimator is run in CPU, the unified estimator navigation by recognition tracking error for tracking mode of navigating, defeated in conjunction with angular transducer
Out, it is communicated using CAN bus, realizes that harvester travelling control and equipment control (will be loaded with cereal flow transducer, grain compartment
Sensor combines), navigation by recognition tracking error is exist to tracking mode using simplified Unscented kalman filtering (SUKF)
Line estimation, does not distinguish the motion profile of carrier, is suitable for wide-angle turning and straight-line travelling occasion, can track strong
Systematic error under non-linear situation；Using Beidou RTK locating module and vision ccd sensor, without manually being adopted before operation
Point realizes independent navigation path planning；Using CAN bus carry out actuator (steering motor), sensor (angular transducer) with
The communication of CPU, equipment are easy to extend, maintenance device framework.
Detailed process is as follows for a kind of unmanned operation grain combine air navigation aid:
Step 1 realizes the autonomous path planning of combine harvester using instant path planning algorithm
1) by combine harvester pilot steering to the edge of a field, vehicle body is parallel with plot short side, if a length of l of short side, joint is received
Cutting mill is switched to automatic driving mode, machinery operation process vision ccd sensor (the present embodiment uses camera) acquisition boundary
Image automatic identification field boundary, and harvester vehicle body and field short side distance are controlled within the scope of l as the half of working width；
2) it after camera detection is to field boundary, is exported using the course of Beidou RTK locating module, control harvester is suitable
Hour hands turn to 90 degree, and 1 working width of straight-line travelling turns to 90 degree in A point to A point clockwise, and records the point position A work
It is the 1st point of field boundary, control harvester continues straight-line travelling to camera detection to field boundary, turns to 90 counterclockwise
Degree, and the 2nd point of the point position B as field boundary is recorded, field boundary information is acquired using camera, control harvester is straight
Equipment operation is parallel with field boundary in line driving process；
3) C point position is recorded when detecting field boundary for camera the 3rd time, control harvester turns to 90 degree counterclockwise, and
It exercises along straight line to camera and detects field boundary D point again, be transformed into Gaussian plane for 4 points of A, B, C, D obtained and sit
Under mark system, the path planning function of navigation device is opened, realizes the autonomous path planning of navigation system installation, as shown in Figure 2.
Step 2 calculates tracking error using the unified estimator of navigation tracking mode
Construction navigation tracking mode model is as follows:
If combine harvester walking states to be estimated are xk=[xk yk θk φk]T, including combine harvester is when the first two
Tie up position (xk、yk), course θkAnd double antenna surveys the biased error φ in coursek, control input vector uk-1=[u1 u2], u1、
u2For left and right wheel input speed control item, then unify the system equation of estimator are as follows:
xk=Φk|k-1xk-1+Gk-1uk-1+wk-1 (1)
Wherein
In formula, Φk|k-1For state-transition matrix, Gk-1For system input control matrix, wk-1For Beidou RTK locating module
Noise, the biased error including position and course noise and heading measure, θkFor k moment vehicle and real north of the earth direction
Course angle, W are combine harvester wheelbase；
It is to measure output with position and course, the measurement equation of unified estimator are as follows:
Zk=Hxk+vk (2)
WhereinvkTo measure noise error battle array, the measurement noise including Beidou RTK locating module
The measurement noise of course (position).The system equation and measurement equation of unified estimator be not different line tracking and curve with
Track process, estimator are quantity of state itself, and the small angle in lienarized equation is unable to satisfy since course angle numerical value is generally large
Degree is it is assumed that unified estimator need to be realized using non-linear filtering method.
The nonlinear filtering of unified estimator is accomplished by
If the state dimension of unified estimator is n, the state probability Density Distribution p at k-1 momentk-1MeetWhereinPk-1|k-1It is a right to generate 2n+1 for the respectively mean value and covariance at k-1 moment
Claim the sigma point χ of distributioniWith weight ωiMatch pk-1, then have:
Wherein i is that sigma point indexes, i=1 ..., 2n+1,κ is proportionality coefficient；
SUKF status predication process are as follows:
WhereinFor k moment status predication mean value, Pk|k-1Variance, Q are predicted for the k momentk-1For k-1 moment system noise
Variance matrix；
SUKF measures renewal process are as follows:
Kk=Pk|k-1HT(HPk|k-1HT+Rk)-1 (7)
Wherein: KkFor filtering gain,And Pk|kRespectively state Posterior estimator is as a result, RkFor measure noise variance matrix,
I is the unit matrix with corresponding dimension.
The calculating process for tracking error of navigating is as follows:
As shown in figure 3, the k moment utilizes o point position (x0, y0) and course θ information, calculate programme path with a distance from o point most
Close point Pk, and establish PkFormer point Pk-1(x1, y1) and latter point Pk+1(x2, y2) linear equation:
If A=(y2-y1)/(x2-x1), B=-1, C=y1-Ax1, calculate point (x0, y0) obtain cross to the distance of the straight line
To deviation d, i.e.,
The forward sight distance of selected navigation tracking process is L, calculates a point position by the position point o and harvester current course angle,
And the nearest point P of distance a point is searched in the two-dimensional array of programme pathk+n, connect oPk+nObtain the current of combine harvester
Desired course θe, oP is calculated by the distance between two o'clockk+n、aPk+nLength is respectively L1、L2, then course deviationMeter
It calculates as follows:
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of unmanned operation grain combine air navigation aid, which is characterized in that by Beidou RTK locating module and vision
Ccd sensor fusion, designs instant path planning algorithm, realizes navigation path planning；It designs the navigation based on SUKF and tracks mistake
The unified estimator of difference realizes that the straight-line travelling of harvester and the edge of a field turn to；By instant path planning algorithm, navigation tracking error
Unified estimator be applied to combine harvester navigation device in, and by navigation path planning with uniformly estimator be integrated into
It in CPU, is communicated using CAN bus with actuator and airborne sensor, realizes that the travelling control of harvester and equipment control.
2. a kind of unmanned operation grain combine air navigation aid according to claim 1, which is characterized in that described to be
When path planning algorithm specifically: utilize camera to acquire field boundary image simultaneously in combine operation, and through CPU point
Field boundary is obtained after analysis, using the position of Beidou RTK locating module output, course information, obtains the four of rectangle field in real time
A apex coordinate, and converted to Gauss plane coordinate system, realize navigation path planning, and by the path of planning with two-dimemsional number
Group form is stored in navigation device.
3. a kind of unmanned operation grain combine air navigation aid as described in claim 1, which is characterized in that the navigation
The unified estimator of tracking mode specifically: set combine harvester walking states to be estimated as xk=[xk yk θk φk]T, packet
Include the biased error that the current two-dimensional position of combine harvester, course and double antenna survey course, uk-1=[u1 u2] it is that left and right wheels are defeated
Enter speed control item, system model are as follows: xk=Φk|k-1xk-1+Gk-1uk-1+wk-1, whereinΦk|k-1For state-transition matrix, Gk-1To be
System input control matrix, wk-1For RTK system noise, the biased error including position and course noise and heading measure, θkFor
The course angle of k moment vehicle and earth real north, W are combine harvester wheelbase；
It is to measure output, the measurement equation of system are as follows: z with position and coursek=Hxk+vk, whereinvkFor
Noise error battle array is measured, including RTK system measures noise, i.e. the measurement noise in position, course.
4. a kind of unmanned operation grain combine air navigation aid according to claim 1, which is characterized in that described to lead
The nonlinear filtering of the unified estimator for tracking error of navigating are as follows:
1) the state dimension of unified estimator is set as n, the state probability Density Distribution p at k-1 momentk-1MeetWhereinPk-1|k-1It is a right to generate 2n+1 for the respectively mean value and covariance at k-1 moment
Claim the sigma point χ of distributioniWith weight ωiMatch pk-1, then have:
Wherein i is that sigma point indexes, i=1 ..., 2n+1,κ is proportionality coefficient；
2) SUKF status predication process are as follows:
WhereinFor k moment status predication mean value, Pk|k-1Variance, Q are predicted for the k momentk-1For k-1 moment system noise variance
Battle array；
3) SUKF measures renewal process are as follows:
Kk=Pk|k-1HT(HPk|k-1HT+Rk)-1
Wherein KkFor filtering gain,And Pk|kRespectively state Posterior estimator is as a result, RkFor the variance matrix for measuring noise, I is tool
There is the unit matrix of corresponding dimension.
5. a kind of unmanned operation grain combine air navigation aid according to claim 1, which is characterized in that described to lead
The calculating process for tracking error of navigating are as follows: the k moment utilizes o point position (x0, y0) and course θ information, calculate programme path from o point away from
From nearest point Pk, and establish PkThe linear equation of former point and latter point, the distance for calculating point o to the straight line obtain laterally partially
Poor d；The forward sight distance of selected navigation tracking process is L, by the position point o and harvester current course angle calculating a point position, and
The nearest point P of distance a point is searched in the two-dimensional array of programme pathk+n, connect oPk+nObtain the current expectation boat of combine harvester
To θe, then course deviationCalculating it is as follows:Wherein L1、L2Respectively oPk+n、aPk+nLength.
6. a kind of unmanned operation grain combine navigation device, which is characterized in that including Beidou RTK locating module, vision
Ccd sensor, integrated remote communication module, angular transducer and CPU, vision ccd sensor and Beidou RTK locating module obtain
It is transferred to CPU after taking corresponding information, integrated remote communication module is communicated with CPU, realizes long-range monitoring and the operation of history field
The matching of information, angular transducer are sent to CPU for detecting harvester front-wheel steer angle, are used for control decision；Navigation
The unified estimator of tracking mode is run in CPU, the unified estimator navigation by recognition tracking error for tracking mode of navigating, in conjunction with
Angular transducer output, is communicated using CAN bus, realizes that harvester travelling control and equipment control.
7. a kind of unmanned operation grain combine air navigation aid according to claim 6, which is characterized in that the view
Feel ccd sensor field boundary for identification.
8. a kind of unmanned operation grain combine air navigation aid according to claim 6, which is characterized in that the north
Bucket RTK locating module is for obtaining geography information.
9. a kind of unmanned operation grain combine air navigation aid according to claim 6, which is characterized in that the view
Feel ccd sensor is camera.
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