CN110631579A - Combined positioning method for agricultural machine navigation - Google Patents
Combined positioning method for agricultural machine navigation Download PDFInfo
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- CN110631579A CN110631579A CN201911046317.8A CN201911046317A CN110631579A CN 110631579 A CN110631579 A CN 110631579A CN 201911046317 A CN201911046317 A CN 201911046317A CN 110631579 A CN110631579 A CN 110631579A
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- navigation
- gps
- positioning
- data
- navigation system
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Classifications
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a combined positioning method for agricultural machine navigation, which relates to the technical field of agricultural machine navigation and comprises a differential GPS (global positioning system) technical module, an electronic compass sensor, a radar speed measurement sensor, an inertial navigation system, a map matching technical module and a Kalman filter, wherein the inertial navigation system comprises a three-axis accelerometer and three single-axis fiber optic gyroscopes, and the differential GPS technical module is used for obtaining accurate three-dimensional coordinates of a mechanical position. According to the invention, the measurement data of the differential GPS, the radar speed measurement sensor and the three-dimensional electronic compass multi-sensor are fused through the Kalman filter, the map matching technology and the weighted fusion algorithm, so that the data output frequency is improved, the inertial navigation system provides accurate positioning data when a GPS signal is effective, the inertial navigation system can be continuously calibrated according to the GPS data, the inertial navigation system can work independently when the GPS signal is lost, and the map matching technology improves the positioning stability.
Description
Technical Field
The invention relates to the technical field of agricultural machine navigation, in particular to a combined positioning method for agricultural machine navigation.
Background
In the agricultural field, regardless of agricultural machinery or crops, the country keeps high attention, in the past, China has a great gap in agricultural machinery compared with developed countries, the time for entering a mechanization stage is relatively late, the speed for improving the technical level is relatively slow, but with the rapid development of Chinese science and economy, China also enters an accurate agricultural technology stage represented by the application of high and new technologies such as GPS and the like.
The traditional positioning technology such as GPS can greatly save the operating cost of agricultural machinery, control the quantity of chemical fertilizers and reasonably utilize agricultural resources, but the existing GPS positioning is easy to generate deviation when harvesting or sowing crops, and can not meet the precision requirement of fine agriculture.
Disclosure of Invention
The invention aims to: in order to solve the problem that the existing GPS combined technology has errors in positioning during mechanical operation and cannot meet the precision requirement of fine agriculture, a combined positioning method for agricultural machine navigation is provided.
In order to achieve the purpose, the invention provides the following technical scheme: a combined positioning method for agricultural machinery navigation comprises a differential GPS technology module, an electronic compass sensor, a radar speed measurement sensor, an inertial navigation system, a map matching technology module and a Kalman filter, wherein the inertial navigation system comprises a three-axis accelerometer and three single-axis fiber optic gyroscopes,
the differential GPS technology module is used for obtaining the accurate three-dimensional coordinates of the mechanical position;
the three-axis accelerometer and the single-axis fiber optic gyroscope are used for establishing a navigation coordinate system and calculating the speed and the position of the carrier in the navigation coordinate system according to the output of the accelerometer;
the map matching technology module is used for matching and linking the positioning vehicle track with road network information in the digital map;
and the Kalman filter is used for updating and processing the positioning data in real time and providing the integrated navigation positioning of the agricultural machinery.
Preferably, the fusion of the inertial navigation system, kalman filtering and map matching techniques is combined with a weighted fusion algorithm to analyze the measurement data.
Preferably, the method comprises the steps of:
the method comprises the following steps: a differential GPS technology module is adopted to measure navigation information such as high-precision three-dimensional position, speed, precise timing and the like of agricultural machinery;
step two: the electronic compass sensor measures the heading angle of the agricultural machine, the output signal of the electronic compass sensor can realize digital display through processing, and the electronic compass sensor measures heading precision data and real-time pose information relative to a preset tracking path;
step three: the radar speed measurement sensor obtains the increment of displacement and accurately calculates the advancing direction and speed;
step four: converting a coordinate downsampling sequence into a road network coordinate sequence by a GIS-based map matching technology, and matching positioning data on a road relatively accurately;
step five: the inertial navigation system based on carrier phase difference GPS assistance is matched with a GPS to measure the high frequency of the positioning data.
Preferably, the kalman filter fuses data of the sensors to provide integrated navigation positioning for the agricultural machine.
Preferably, the radar speed measurement sensor comprises a linear speed measurement sensor and a rotating speed measurement sensor.
Preferably, the inertial navigation system provides accurate positioning data when the GPS signal is valid, and the inertial navigation system can operate alone when the GPS signal is lost.
Preferably, the electronic compass sensor is a three-dimensional electronic compass.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the measurement data of the differential GPS, the radar speed measurement sensor and the three-dimensional electronic compass multi-sensor are fused through the Kalman filter, the map matching technology and the weighted fusion algorithm, so that the data output frequency is improved, the positioning precision of the differential GPS is improved, the inertial navigation system provides accurate positioning data when a GPS signal is effective, the inertial navigation system can be continuously calibrated according to the GPS data, the inertial navigation system can work independently when the GPS signal is lost, and the positioning stability is improved through the map matching technology.
Drawings
FIG. 1 is a flow chart of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a combined positioning method for agricultural machinery navigation includes a differential GPS technology module, an electronic compass sensor, a radar speed sensor, an inertial navigation system, a map matching technology module and a kalman filter, wherein the inertial navigation system includes a three-axis accelerometer and three single-axis fiber optic gyroscopes,
the differential GPS technology module is used for obtaining the accurate three-dimensional coordinates of the mechanical position;
the three-axis accelerometer and the single-axis fiber optic gyroscope are used for establishing a navigation coordinate system and calculating the speed and the position of the carrier in the navigation coordinate system according to the output of the accelerometer;
the map matching technology module is used for matching and linking the positioning vehicle track with road network information in the digital map;
and the Kalman filter is used for updating and processing the positioning data in real time and providing the integrated navigation positioning of the agricultural machinery.
The invention measures the acceleration of the mechanical carrier in the inertial reference system through the inertial navigation system, integrates the acceleration with time, and transforms the acceleration into the navigation coordinate system, thus obtaining the information of speed, yaw angle, position and the like in the navigation coordinate system; the accelerometer is used for measuring the acceleration of a moving body, the speed is obtained through the first integral of time, the distance can be obtained through the first integral of time, the map matching technology links the positioning track of the mechanical vehicle with the road network information in the digital map, the position of the vehicle is determined relative to the map, the positioning data output frequency is improved, and the accuracy of the differential GPS in positioning the mechanical equipment is improved.
Example 1
As a preferred embodiment of the invention, the fusion of the inertial navigation system, Kalman filtering and map matching technology is combined with the measurement data of the weighted fusion algorithm for analysis; the Kalman filter fuses data of the sensors to provide integrated navigation positioning for the agricultural machinery; the inertial navigation system provides accurate positioning data when the GPS signal is effective, and can work independently when the GPS signal is lost.
The combined positioning method for agricultural machine navigation comprises the steps that a Kalman filter, a map matching technology and a weighted fusion algorithm are used for fusing measurement data of a differential GPS, a radar speed measurement sensor and a three-dimensional electronic compass multi-sensor, so that the data output frequency is improved, the positioning precision of the differential GPS is improved, an inertial navigation system provides accurate positioning data when GPS signals are effective, the inertial navigation system can be continuously calibrated according to the GPS data, and can independently work when the GPS signals are lost, and the positioning stability is improved.
Example 2
As a preferred embodiment of the present invention, the method comprises the steps of:
the method comprises the following steps: a differential GPS technology module is adopted to measure navigation information such as high-precision three-dimensional position, speed, precise timing and the like of agricultural machinery;
step two: the electronic compass sensor measures the heading angle of the agricultural machine, the output signal of the electronic compass sensor can realize digital display through processing, and the electronic compass sensor measures heading precision data and real-time pose information relative to a preset tracking path;
step three: the radar speed measurement sensor obtains the increment of displacement and accurately calculates the advancing direction and speed;
step four: converting a coordinate downsampling sequence into a road network coordinate sequence by a GIS-based map matching technology, and matching positioning data on a road relatively accurately;
step five: the inertial navigation system based on carrier phase difference GPS assistance is matched with a GPS to measure the high frequency of the positioning data.
According to the combined positioning method for agricultural machine navigation, the current positioning position of a machine is obtained through a differential GPS, combined navigation information processing is carried out through Kalman filtering, the state of a combined system is optimally estimated through auxiliary information observation quantity, high-precision navigation information is obtained, after the initial positioning data of the differential GPS is obtained through a GIS-based map matching technology, the original attribute characteristics of a digital map are utilized, the existing map matching algorithm is improved through a ground elevation model of the digital map, the improved algorithm is verified through experimental data in combination with a route in an electronic map, and the result shows that the improved algorithm can obtain higher positioning precision and more reliable matching performance.
Example 3
As a preferred embodiment of the invention, the radar speed measurement sensor comprises a linear velocity measurement sensor and a rotating speed measurement sensor.
The combined positioning method for agricultural machinery navigation can measure the left-right swinging amount of an operating object, the moving direction and the halt state by a measuring linear velocity sensor, adopts the principle of a spatial filtering method, and is realized by observing a moving object passing through a grating, the superposition of moving images is matched with the moving speed of a measured object with the frequency of a detector output signal caused by a grating structure, a speed measuring sensor has two orthogonal measuring signal outputs and can simultaneously measure the speeds in two directions, not only can detect whether the measured object stops or not, but also can detect the moving direction of the measured object, and the sensor is fixed on a stable bracket and can measure the rotating angle and the rotating speed of the rotating measured object.
Example 4
As a preferred embodiment of the present invention, the electronic compass sensor is a three-dimensional electronic compass.
According to the combined positioning method for agricultural machine navigation, the inclination angle sensor is added in the three-dimensional electronic compass, if the compass inclines, the inclination compensation can be carried out on the compass, so that even if the compass inclines, heading data are still accurate, sometimes, in order to overcome temperature drift, the temperature compensation can be also arranged in the compass, and the temperature drift of the inclination angle and the pointing angle is reduced to the maximum extent.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. The utility model provides a combined positioning method for agricultural machine navigation, includes difference GPS technique module, electron compass sensor, radar speed sensor, inertial navigation system, map matching technique module and kalman filter, inertial navigation system includes a triaxial accelerometer and three single-axis fiber optic gyroscope, its characterized in that:
the differential GPS technology module is used for obtaining the accurate three-dimensional coordinates of the mechanical position;
the three-axis accelerometer and the single-axis fiber optic gyroscope are used for establishing a navigation coordinate system and calculating the speed and the position of the carrier in the navigation coordinate system according to the output of the accelerometer;
the map matching technology module is used for matching and linking the positioning vehicle track with road network information in the digital map;
and the Kalman filter is used for updating and processing the positioning data in real time and providing the integrated navigation positioning of the agricultural machinery.
2. The combined positioning method for navigation of agricultural machines according to claim 1, characterized in that: and the inertial navigation system, the Kalman filtering and the map matching technology are fused and are combined with the measurement data of the weighted fusion algorithm for analysis.
3. The combined positioning method for navigation of agricultural machines according to claim 1, characterized in that: the method comprises the following steps:
the method comprises the following steps: a differential GPS technology module is adopted to measure navigation information such as high-precision three-dimensional position, speed, precise timing and the like of agricultural machinery;
step two: the electronic compass sensor measures the heading angle of the agricultural machine, the output signal of the electronic compass sensor can realize digital display through processing, and the electronic compass sensor measures heading precision data and real-time pose information relative to a preset tracking path;
step three: the radar speed measurement sensor obtains the increment of displacement and accurately calculates the advancing direction and speed;
step four: converting a coordinate downsampling sequence into a road network coordinate sequence by a GIS-based map matching technology, and matching positioning data on a road relatively accurately;
step five: the inertial navigation system based on carrier phase difference GPS assistance is matched with a GPS to measure the high frequency of the positioning data.
4. The combined positioning method for navigation of agricultural machines according to claim 1, characterized in that: the Kalman filter fuses data of the sensors to provide integrated navigation positioning for agricultural machinery.
5. The combined positioning method for navigation of agricultural machines according to claim 1, characterized in that: the radar speed measurement sensor comprises a linear speed measurement sensor and a rotating speed measurement sensor.
6. The combined positioning method for navigation of agricultural machines according to claim 4, characterized in that: the inertial navigation system provides accurate positioning data when the GPS signal is effective, and can work independently when the GPS signal is lost.
7. The combined positioning method for navigation of agricultural machines according to claim 1, characterized in that: the electronic compass sensor is a three-dimensional electronic compass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911046317.8A CN110631579A (en) | 2019-10-30 | 2019-10-30 | Combined positioning method for agricultural machine navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911046317.8A CN110631579A (en) | 2019-10-30 | 2019-10-30 | Combined positioning method for agricultural machine navigation |
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| CN110631579A true CN110631579A (en) | 2019-12-31 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111679309A (en) * | 2020-07-15 | 2020-09-18 | 北京天润海图科技有限公司 | Combined positioning method and device for outdoor intelligent rail car and storage medium |
| CN112213116A (en) * | 2020-09-30 | 2021-01-12 | 江苏艾威机械制造有限公司 | Agricultural machine test bed and control method thereof |
| CN112363249A (en) * | 2020-09-02 | 2021-02-12 | 广东工业大学 | Mobile meteorological measurement method and device |
| CN113340303A (en) * | 2021-06-01 | 2021-09-03 | 北京连山科技股份有限公司 | Road network matching method based on inertia combined navigation data |
| CN114234969A (en) * | 2021-12-17 | 2022-03-25 | 上海华测导航技术股份有限公司 | Navigation positioning method and device and electronic equipment |
| CN117092665A (en) * | 2023-08-03 | 2023-11-21 | 广州海格晶维信息产业有限公司 | Method and system for resisting multipath interference of integrated navigation equipment |
-
2019
- 2019-10-30 CN CN201911046317.8A patent/CN110631579A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111679309A (en) * | 2020-07-15 | 2020-09-18 | 北京天润海图科技有限公司 | Combined positioning method and device for outdoor intelligent rail car and storage medium |
| CN112363249A (en) * | 2020-09-02 | 2021-02-12 | 广东工业大学 | Mobile meteorological measurement method and device |
| CN112213116A (en) * | 2020-09-30 | 2021-01-12 | 江苏艾威机械制造有限公司 | Agricultural machine test bed and control method thereof |
| CN113340303A (en) * | 2021-06-01 | 2021-09-03 | 北京连山科技股份有限公司 | Road network matching method based on inertia combined navigation data |
| CN114234969A (en) * | 2021-12-17 | 2022-03-25 | 上海华测导航技术股份有限公司 | Navigation positioning method and device and electronic equipment |
| CN114234969B (en) * | 2021-12-17 | 2023-09-15 | 上海华测导航技术股份有限公司 | Navigation positioning method and device and electronic equipment |
| CN117092665A (en) * | 2023-08-03 | 2023-11-21 | 广州海格晶维信息产业有限公司 | Method and system for resisting multipath interference of integrated navigation equipment |
| CN117092665B (en) * | 2023-08-03 | 2024-04-19 | 广州海格晶维信息产业有限公司 | Method and system for resisting multipath interference of integrated navigation equipment |
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Application publication date: 20191231 |
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