CN109781096A - A kind of integrated navigation and location system and method for intelligent agricultural machinery - Google Patents
A kind of integrated navigation and location system and method for intelligent agricultural machinery Download PDFInfo
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Abstract
The present invention relates to a kind of integrated navigation and location systems for intelligent agricultural machinery, including receiver, for obtaining the satellite navigation system data of intelligent agricultural machinery；Inertial navigation unit, for obtaining the inertial navigation data of intelligent agricultural machinery；Sensor, for obtaining the straight line degrees of offset and direction information of intelligent agricultural machinery；And information collection and processing unit, the information obtained for receiving and handling the receiver, the inertial navigation unit and the sensor, and obtain the precise positioning information for merging the information that the receiver obtains and the information that the inertial navigation unit obtains.
Description
Technical field
The present invention relates to navigator fix field, in particular to a kind of integrated navigation and location system suitable for intelligent agricultural machinery and
Method.
Background technique
The development of science and technology is so that the agricultural automation level of countries in the world is all significantly improved, especially in essence
Quasi- agriculture field realizes that the automatic Pilot of intelligent agricultural machinery equipment and precise positioning have become agricultural producer and improve life using navigation
Produce the important means of efficiency.
In recent years, integrated navigation system and the relevant technologies are rapidly developed and apply, for example, global positioning system
(GPS) the navigation mode combined with inertial navigation system (INS), but in precision agriculture field, due to cost problem and
Algorithm process problem etc., integrated navigation is widely popularized not yet, used by most of intelligent agricultural machinery both domestic and external at present
Navigation mode is still limited to GPS or assisting navigation.It is existing with the continuous improvement that the navigation and positioning accuracy to intelligent agricultural machinery requires
Navigation mode by the factors such as agricultural machinery working environment influenced caused by error caused its precision to be unable to satisfy demand.
Therefore, it is necessary to a kind of precise positioning system and methods that the precision suitable for agricultural operation environment is high.
Summary of the invention
The present invention provides a kind of integrated navigation and location system suitable for intelligent agricultural machinery, which includes receiver, is used for
Obtain the satellite navigation system data of intelligent agricultural machinery；Inertial navigation unit, for obtaining the inertial navigation data of intelligent agricultural machinery；It passes
Sensor, for obtaining the straight line degrees of offset and direction information of intelligent agricultural machinery；And information collection and processing unit, for receiving
The information obtained with the processing receiver, the inertial navigation unit and the sensor, and obtain the fusion receiver
The precise positioning information for the information that the information of acquisition and the inertial navigation unit obtain.
Preferably, the information collection and processing unit include for receiving the receiver, the inertial navigation unit
The data reception module of the information obtained with the sensor, and for merging information that the receiver obtains and described used
Property navigation device obtain information message processing module.
Preferably, the message processing module can also be used in the information obtained to the receiver and inertial navigation dress
The information for setting acquisition is filtered calculating and obtains error estimator；The error estimator is fed back to institute by the message processing module
It states receiver or the inertial navigation unit carries out feedback correction and obtains precise positioning data.
Preferably, the initial value that the inertial navigation unit is resolved is the satellite navigation number obtained by the receiver
According to.
Preferably, the receiver is GPS receiver or Beidou receiver.
According to another aspect of the present invention, a kind of intelligent driving system suitable for intelligent agricultural machinery is also provided, including such as
The upper integrated navigation and location system.
Preferably, the intelligent driving system further includes server, and the information collection and processing module will be described accurate
The information that location information and the sensor obtain is uploaded to server, and user is checked and compared the letter by the server
The information that breath acquisition and processing unit are uploaded to the precise positioning information of server and the sensor obtains, manually adjusts
The travel route of the intelligent agricultural machinery.
Preferably, the intelligent driving system further includes autopilot facility, and the information collection and processing module are by institute
The information for stating precise positioning information and sensor acquisition is uploaded to the autopilot facility, and the autopilot facility is logical
It crosses and compares the information collection and processing unit is uploaded to the precise positioning information of server and the sensor obtains
Information, the travel route of intelligent agricultural machinery described in adjust automatically.
According to another aspect of the present invention, also a kind of to be positioned using integrated navigation and location system as described above
Method, comprising the following steps:
Satellite navigation data is obtained as initial value；
It is resolved using inertial navigation data of the initial value to acquisition and obtains the motion model of intelligent agricultural machinery；
Filter, satellite navigation data described in real time fusion and the inertial navigation data are established using the motion model
And obtain precise positioning information.
According to another aspect of the present invention, a kind of use intelligent driving system as described above is also provided and carries out intelligent drive
The method sailed, comprising the following steps:
Compare the precise positioning information and sensor acquisition information that the integrated navigation and location system obtains；
If the precise positioning information that the integrated navigation and location system obtains is compared with sensor acquisition information has offset,
Then adjust the track route of the intelligent agricultural machinery；Otherwise it will not be adjusted.
Compared with the existing technology, the present invention achieves following advantageous effects: provided by the invention to be suitable for intelligent agriculture
The integrated navigation and location system and method for machine lead to using the navigation mode that earth magnetism is combined with rotary angle transmitter with GPS/INS
Corresponding information processing is crossed, caused by the dropout occurred when can effectively solve the problem that using GPS or INS positioning or interference
Position error, and decline as intelligent agricultural machinery uninterrupted working time increases positioning accuracy caused by accumulated position error,
To realize that the accurate navigator fix of the long-time of intelligent agricultural machinery and automatic deviation are corrected, agricultural production efficiency is improved.
Detailed description of the invention
Fig. 1 is integrated navigation and location system structural schematic diagram provided by the invention.
Fig. 2 is combined navigation locating method flow chart provided by the invention.
Fig. 3 is INS data calculation method flow diagram provided by the invention.
Fig. 4 is the method flow rectified a deviation using above-mentioned location information to intelligent agricultural machinery that present pre-ferred embodiments provide
Figure.
Specific embodiment
In order to which the purpose of the present invention, technical solution and advantage is more clearly understood, below in conjunction with attached drawing, to according to this
The integrated navigation and location system and method suitable for intelligent agricultural machinery provided in the embodiment of invention is further described.
Satellite navigation system is using the system of position location satellite real-time perfoming navigator fix in the world, in addition to the U.S.
The GPS of research and development is also at present a kind of global position system there are also the Beidou satellite navigation system in China.This system usually can be by
The influence of receiver user generates error, and when signal is propagated, and is influenced usually generate propagation delay mistake by use environment
Difference；Inertial navigation system be it is a kind of with Newton mechanics law for basic autonomic navigation system.But the positioning of this system misses
Difference can be with accumulated time, therefore cannot independently use for a long time.
The integrated navigation mode that satellite navigation system is combined with inertial navigation can be learnt from other's strong points to offset one's weaknesses, given full play to above-mentioned
The advantage of two kinds of navigation system, using the long-time stability and moderate precision of satellite navigation system, to make up inertial navigation system
Error the shortcomings that propagating increase at any time, while making up satellite navigation system in high precision using the short-term of inertial navigation system
When being disturbed, error increases or is blocked the shortcomings that lossing signal.
In order to which integrated navigation to be applied in the intelligent agricultural machinery of agriculture field, inventor combines through having researched and proposed one kind
The integrated navigation mode of the satellite navigation system and inertial navigation system of geomagnetic sensor and rotary angle transmitter, by believing accordingly
Breath processing, can effectively improve agricultural production efficiency.
Fig. 1 is integrated navigation and location system structural schematic diagram provided by the invention, as shown in Figure 1, the present invention provides one
Kind is suitable for the integrated navigation and location system 100 of intelligent agricultural machinery, including GPS receiver 2, INS device 3, information collection and processing
Device 1, sensor 4.Wherein, GPS receiver 2 is for obtaining GPS data；INS device 3 includes for obtaining intelligent agricultural machinery traveling
The accelerometer 31 and gyroscope 32 of status information；Straight line degrees of offset when sensor 4 includes for detecting intelligent agricultural machinery walking
Geomagnetic sensor 41, and the rotary angle transmitter 42 for detecting intelligent agricultural machinery steering angle size and rotation direction；Information is adopted
Collection includes for receiving the various data acquisition modules 11 for acquiring data and for the information processing of navigation calculation with processing unit 1
Module 12, information collection and processing unit 1 can be filled with the automatic Pilot of external server and intelligent agricultural machinery with display
It sets and is connected, checked so that positioning navigation data to be uploaded in server for user, or adjust intelligence for servomechanism
The track route of energy agricultural machinery.
GPS receiver 2 obtains the location information of certain format, when carrying out unpacking processing to information, can use optimal
Estimation method, for example, to GPS value using weighted average processing mode, i.e., by repeatedly to same position acquire GPS data after again
It carries out taking average value processing, to reduce position error, to improve positioning accuracy；Furthermore it is also possible to using transfer algorithm to GPS
Data are coordinately transformed, for example, the longitude and latitude of GPS data is transformed into (X, Y) coordinate system, so as to will be on GPS data
When reaching server, it is more suitable for the real-time display function of electronic map, is checked convenient for user.
INS device 3 may include a three axis accelerometer 31 and a gyroscope 32 or three single-axis accelerometers
31 and three single axis gyroscopes 32.After the 3 d pose data of acquisition intelligent agricultural machinery, INS device 3 can navigate to data
It resolves, using the initial measurement data of GPS as the initial value of INS, navigational coordinate system is established by gyroscope, accelerometer can solve
Speed and position are calculated, to obtain position, speed and the posture information handled through navigation calculation.
Geomagnetic sensor 41 is installed on the steering front wheel two sides of intelligent agricultural machinery to monitor the straight line of agricultural machinery travel offset journey
The straight line direction of travel of degree and agricultural machinery；Rotary angle transmitter 42 is installed in the steering shaft of intelligent agricultural machinery, to detect agricultural machinery
Angle of rotation size and rotation direction.
The receivable GPS information sent by GPS receiver 2 of the data acquisition module 11 of information collection and processing unit 1,
The azimuth information and steering angle letter that the accelerometer information and gyroscope information and sensor 4 that INS device 3 is sent are sent
Breath；Message processing module 12 can carry out use processing and filtering to GPS receiver 2 and the data collected of INS device 3
Calculate, so as to export accurately location information to server or autopilot facility.
Wherein, on the map of server, precise positioning information can be used to show current state and the position of agricultural machinery, user
The historical track and current track of intelligent agricultural machinery can be checked according to above- mentioned information, and the track route of intelligent agricultural machinery is adjusted
It is whole；Autopilot facility can be by comparing the real time information and the fused location information of GPS/INS of sensor 4 to intelligent agriculture
Machine carries out automatic deviation correction；In addition, can also be preset to the driving range of intelligent agricultural machinery, according to above-mentioned location information, if intelligence
When agricultural machinery travels out preset range, information feedback is carried out to user or autopilot facility.
In one embodiment of the invention, message processing module 12 can be filtered when executing filtering and calculating using Kalman
Wave or particle filter.When wherein, using Kalman filtering, the nonlinear model that need to move intelligent agricultural machinery is approximately linear model
Processing；When using particle filter, nonlinear model can be used directly.
In one embodiment of the invention, if GPS signal is interfered, loss or instrument failure lead to GPS receiver 2
When not working, INS device 3 can work independently and export location information；Similarly, if INS device 3 breaks down, GPS is connect
Receipts machine 2 can work independently and export location information.When above situation occurs, navigation system 100 can take fault information reporting
Device be engaged in handle, simultaneously as carrying out positioning caused precision reduction using single device, is adopted using sensor 4
Collect information and carries out auxiliary positioning.
According to another aspect of the present invention, also provide it is a kind of using said combination navigation system 100 to intelligent agricultural machinery into
The method of row navigator fix, Fig. 2 are the combined navigation locating method flow chart provided by the present invention for intelligent agricultural machinery, such as Fig. 2
It is shown, this method specifically includes the following steps:
S10, GPS data is obtained
When intelligent agricultural machinery is in static or rigid starting state, believed using the position that GPS receiver 2 obtains current intelligent agricultural machinery
It ceases, it is optimal that the GPS longitude and latitude data that will acquire are input to message processing module progress after unpacking and coordinate transform processing
Estimation processing, using processed location information as the initial value of INS device.
In one embodiment of the invention, it when carrying out optimal processing to GPS data, can acquire after intelligent agricultural machinery starts still
GPS data carry out multi collect to (such as 1min to 2min after starting) in the period of non-shift position, then carry out at mean value
Reason, to reduce position error.
S20, INS data are obtained
After intelligent agricultural machinery starting, INS device 3 will start the 3 d pose information of acquisition intelligent agricultural machinery, utilize above-mentioned steps
The initial value that S10 is obtained initializes INS device 3, using SINS algorithm, establishes navigational coordinate system by gyroscope 32, adds
Speedometer 31 calculates speed and location information, carries out navigation calculation processing to data, obtains position, speed, posture information.Figure
3 be the method flow diagram resolved to INS data that present pre-ferred embodiments provide, as shown in Figure 3 comprising step is such as
Under:
S201, the Initial Information provided using GPS receiver 2, determine the initial position and initial velocity of intelligent agricultural machinery, and
It determines the initial value of attitude matrix, i.e., by the axially aligned of INS navigation platform coordinate system and n system or g system, to measured data and makes an uproar
Sound data are initialized；
S202, the b system measured using three-axis gyroscope 32 are equivalent to the angular speed of i systemWith n obtained by calculation
System is equivalent to the angular speed of i systemAcquire angular speed of the b system relative to n systemThe appearance of n system is obtained through differential calculation b system again
State transformation matrixThe attitude angle of intelligent agricultural machinery can be extracted from the attitude matrix；
S203, b system to the posture changing matrix of n system is utilizedThe information that accelerometer 31 exports is transformed to n system, is disappeared
Except harmful acceleration (adds for example, intelligent agricultural machinery generates Ge Shi relative to centripetal acceleration caused by earth movements, earth rotation
Speed and acceleration of gravity), the then position and speed of integrated computational intelligence agricultural machinery.It similarly, can be by solving n system to e
Transformation matrix (i.e. location matrix)Come the longitude and latitude of computational intelligence agricultural machinery.
S30, fusion treatment GPS/INS data
With the movement of intelligent agricultural machinery, GPS receiver 2 will continue the location information of acquisition intelligent agricultural machinery, information processing mould
Block 12 constructs the motion model of intelligent agricultural machinery using the GPS data and INS data of the continuous renewal received, Jin Erli
18 rank Kalman filter or particle filter are established with the motion model, to be filtered iterative calculation, thus to GPS number
Real time fusion process is carried out according to INS data.
In one embodiment of the invention, it due to the working time accumulation with intelligent agricultural machinery, is produced using filter
Raw approximate calculation error can constantly increase, and which results in filter effect variation.To solve the above problems, inventor proposes one
The method that kind timing carries out feedback compensation using resolving value of the GPS data to INS, i.e., by the estimated total run time of intelligent agricultural machinery
It is divided into some time, the S10 and S20 that repeats the above steps at regular intervals initializes INS device 3, to disappear
Except the error caused by accumulated time of INS device 3, for example, it is assumed that the estimated total time of intelligent agricultural machinery is 60min, operation
Speed is 5-10km/h, then can set and once be initialized every 15min to INS device 3, is accurately determined to persistently obtain
Position information.
In one embodiment of the invention, INS device 3 and the frequency acquisition of GPS receiver 2 are phase in general
To consistent, if the frequency acquisition of INS data is greater than the frequency acquisition of GPS data, meter can be filtered when there is GPS signal
It calculates, to correct INS resolving value；It is positioned in no GPS signal using the resolving value of INS；In Kalman filtering or particle
It, can be by Kalman filtering or the state of particle filter to prevent every error amount from accumulating after filtering is to INS resolving value feedback compensation
Vector is set to zero.
S40, it exports accurately navigator fix information and adjusts track route
By being corrected processing, information collection and processing unit 1 for the accurate of the intelligent agricultural machinery of acquisition to error estimator
Position, speed and posture information are sent to server, and user can check out the dynamic letter of intelligent agricultural machinery on the map of server
Breath, such as current running track and historical track.
Fig. 4 is the method stream rectified a deviation using above-mentioned location information to intelligent agricultural machinery that present pre-ferred embodiments provide
Cheng Tu, as shown in figure 4, geomagnetic sensor 41 and rotary angle transmitter 42 as assisting navigation will after intelligent agricultural machinery starting
The sensor 4 can be acquired by obtaining the real-time direction of travel of intelligent agricultural machinery and direction information, information collection and processing unit 1
Real time information upload onto the server together with the fused precise positioning information of GPS/INS/autopilot facility, user or from
Dynamic steer can be compared using above-mentioned real time information with precise positioning information, and judge intelligent agricultural machinery according to comparison result
Real time offset situation, for example, if left and right offset occurs, can manually or automatically be corrected for the intelligent agricultural machinery of straight line walking
The running route of intelligent agricultural machinery.
In one embodiment of the invention, above-mentioned GPS receiver 2 also can be replaced Beidou dual mode reception device.
In one embodiment of the invention, above-mentioned intelligent agricultural machinery includes general for what is sowed, apply fertilizer, plough or gather in
Intelligent farm machinery.
Although being suitable for intelligence to provided by the invention in the above-described embodiments, using the walking of intelligent agricultural machinery straight line
The integrated navigation and location system and method for agricultural machinery have carried out for example, but it will be recognized by one of ordinary skill in the art that above-mentioned system
System and method could be applicable to turn navigator fix or curve driving navigator fix etc. of the intelligent agricultural machinery in different kinds of roads.
Compared with the existing technology, in embodiments of the present invention provided by be used for intelligent agricultural machinery integrated navigation and location system
And method passes through corresponding information processing and error using the navigation mode that earth magnetism is combined with rotary angle transmitter with GPS/INS
Feedback, can be realized the accurate navigator fix of intelligent agricultural machinery, improves agricultural production efficiency.
Although the present invention has been described by means of preferred embodiments, the present invention is not limited to described here
Embodiment, without departing from the present invention further include made various changes and variation.
Claims (10)
1. a kind of integrated navigation and location system for intelligent agricultural machinery, including
Receiver, for obtaining the satellite navigation system data of intelligent agricultural machinery；
Inertial navigation unit, for obtaining the inertial navigation data of intelligent agricultural machinery；
Sensor, for obtaining the straight line degrees of offset and direction information of intelligent agricultural machinery；And
Information collection and processing unit, for receiving and handling the receiver, the inertial navigation unit and the sensor
The information of acquisition, and obtain the accurate fixed of the information for merging information and inertial navigation unit acquisition that the receiver obtains
Position information.
2. integrated navigation and location system according to claim 1, which is characterized in that the information collection and processing unit packet
The data reception module for receiving the information that the receiver, the inertial navigation unit and the sensor obtain is included, with
And the message processing module for merging the information that the receiver obtains and the information that the inertial navigation unit obtains.
3. integrated navigation and location system according to claim 2, which is characterized in that the message processing module can also be used in
The information that the information and the inertial navigation unit obtain to the receiver obtains is filtered calculating, and leads to the inertia
Boat device is timed calibration.
4. integrated navigation and location system according to claim 1, which is characterized in that the inertial navigation unit is resolved
Initial value be the satellite navigation data obtained by the receiver.
5. integrated navigation and location system according to claim 1, which is characterized in that the receiver be GPS receiver or
Beidou receiver.
6. a kind of intelligent driving system suitable for intelligent agricultural machinery, including such as integrated navigation described in any one of claim 1 to 5
Positioning system.
7. intelligent driving system according to claim 6, which is characterized in that the intelligent driving system further includes service
The information that the precise positioning information and the sensor obtain is uploaded to service by device, the information collection and processing module
Device, user is checked and is compared the information collection by the server and processing unit is uploaded to the described precisely fixed of server
The information that position information and the sensor obtain, manually adjusts the travel route of the intelligent agricultural machinery.
8. intelligent driving system according to claim 6, which is characterized in that the intelligent driving system further includes driving automatically
It sails equipment, the information collection and processing module and the information that the precise positioning information and the sensor obtain is uploaded to institute
Autopilot facility is stated, the autopilot facility is uploaded to the institute of server by comparing the information collection and processing unit
State the information of precise positioning information and sensor acquisition, the travel route of intelligent agricultural machinery described in adjust automatically.
9. a kind of method positioned using such as integrated navigation and location system described in any one of claim 1 to 5, including with
Lower step:
Satellite navigation data is obtained as initial value；
It is resolved using inertial navigation data of the initial value to acquisition and obtains the motion model of intelligent agricultural machinery；
Filter, satellite navigation data described in real time fusion and the inertial navigation data are established using the motion model and are obtained
Obtain precise positioning information.
10. a kind of method that the intelligent driving system using as described in claim 6 to 8 carries out intelligent driving, including following step
It is rapid:
Compare the precise positioning information and sensor acquisition information that the integrated navigation and location system obtains；
If the precise positioning information that the integrated navigation and location system obtains is compared with sensor acquisition information has offset, adjust
The track route of the whole intelligent agricultural machinery；Otherwise it will not be adjusted.
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| CN111158363A (en) * | 2019-12-27 | 2020-05-15 | 苏州博田自动化技术有限公司 | Macro-micro navigation method based on control time sequence combination |
| CN111721298A (en) * | 2020-06-24 | 2020-09-29 | 重庆赛迪奇智人工智能科技有限公司 | SLAM outdoor large scene accurate positioning method |
| CN113959438A (en) * | 2021-10-20 | 2022-01-21 | 广东电力通信科技有限公司 | Navigation positioning method based on multi-source data fusion and storage medium |
| CN114721375A (en) * | 2022-03-14 | 2022-07-08 | 常州江苏大学工程技术研究院 | Agricultural machinery single-antenna navigation path tracking method |
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