CN112965091A - Agricultural robot positioning method and system - Google Patents
Agricultural robot positioning method and system Download PDFInfo
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- CN112965091A CN112965091A CN202110142686.8A CN202110142686A CN112965091A CN 112965091 A CN112965091 A CN 112965091A CN 202110142686 A CN202110142686 A CN 202110142686A CN 112965091 A CN112965091 A CN 112965091A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to an agricultural robot positioning method, which comprises the following steps: respectively installing a positioning antenna and a directional antenna on the left side and the right side of an agricultural robot; obtaining a horizontal distance between a set point on the positioning antenna and the actual position of the agricultural robot, and defining the horizontal distance as a horizontal actual deviation; the actual position is an intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and a central line of the agricultural robot and a set horizontal plane; obtaining a vector of the set point to the actual position; and determining the positioning position of the agricultural robot according to the vector of the set point to the actual position and the horizontal actual deviation. The invention corrects the error of the positioning position through the inclination angle, and improves the positioning precision of the agricultural robot.
Description
Technical Field
The invention relates to the field of navigation, in particular to an agricultural robot positioning method and system.
Background
With the improvement of the modern technology level and the era requirement of China on the modernization of agricultural rural areas. The modernization and intellectualization of agricultural machinery is one of the important development directions. The automatic navigation of the agricultural machine is one of the key technologies of the automation and the intellectualization of the modern agricultural machine. In the navigation process of agricultural machinery, the high-precision positioning of agricultural machinery is the premise of navigation operation. When the agricultural machine works in the field, the agricultural machine swings left and right due to large ground fluctuation, and the positioning information obtained by the GNSS receiver deviates along with the swinging of the agricultural machine, so that the positioning accuracy is influenced, and the navigation accuracy is influenced.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system for an agricultural robot, which can correct errors of a positioning position through an inclination angle and improve the positioning precision of the agricultural robot.
In order to achieve the purpose, the invention provides the following scheme:
an agricultural robot positioning method, the method comprising:
respectively installing a positioning antenna and a directional antenna on the left side and the right side of an agricultural robot;
obtaining a horizontal distance between a set point on the positioning antenna and the actual position of the agricultural robot, and defining the horizontal distance as a horizontal actual deviation; the actual position is an intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and a central line of the agricultural robot and a set horizontal plane;
obtaining a vector of the set point to the actual position;
and determining the positioning position of the agricultural robot according to the vector of the set point to the actual position and the horizontal actual deviation.
Optionally, the obtaining the vector of the set point to the actual position specifically includes:
obtaining the longitudinal inclined included angle of the agricultural robot;
obtaining a course angle of the agricultural robot;
and determining a vector from the set point to the actual position according to the included angle between the heading angle and the longitudinal inclination.
Optionally, the included angle of the longitudinal inclination is expressed as:
Δα＝α1-a, where Δ α represents the angle of inclination of the longitudinal direction, a1And the included angle between the connecting line between the actual position and the set point and the longitudinal central line of the agricultural robot is represented, and alpha represents the included angle of the longitudinal plane of the agricultural robot obtained by a double-antenna RTK-GNSS positioning and orientation receiver.
Optionally, the method comprises:
when the angle of the longitudinal inclination is greater than 0, the vector of the setpoint to the actual position is represented as
When the angle of said longitudinal inclination is less than 0, the vector of said setpoint to said actual position is represented by
Therein, ΨPA vector, Ψ, representing the set point to the actual positionVRepresenting a heading angle of the agricultural robot.
Optionally, said determining the positioning position of said agricultural robot from said vector of set points to said actual position and said horizontal actual deviation is formulated as:
wherein (E)O，NO) Plane coordinates representing the location position, (E)p，Np) Plane coordinates representing the set point,/2Representing said actual deviation of the horizon, ΨPA vector representing the set point to the actual position.
The invention also discloses an agricultural robot positioning system, which comprises:
the horizontal actual deviation acquiring module is used for acquiring a horizontal distance between a set point on the positioning antenna and the actual position of the agricultural robot, and defining the horizontal distance as a horizontal actual deviation; the actual position is an intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and a central line of the agricultural robot and a set horizontal plane; the positioning antenna and the directional antenna are respectively arranged on the left side and the right side of the agricultural robot;
a vector acquisition module for obtaining a vector of the set point to the actual position;
and the positioning position determining module is used for determining the positioning position of the agricultural robot according to the vector of the set point to the actual position and the horizontal actual deviation.
Optionally, the vector obtaining module specifically includes:
the longitudinal inclination included angle acquisition unit is used for acquiring the longitudinal inclination included angle of the agricultural robot;
the course angle acquisition unit is used for acquiring a course angle of the agricultural robot;
and the vector determining unit is used for determining the vector from the set point to the actual position according to the included angle between the course angle and the longitudinal inclination.
Optionally, the included angle of the longitudinal inclination is expressed as:
Δα＝α1-a, where Δ α represents the angle of inclination of the longitudinal direction, a1Representing the angle between the line between said actual position and said set point and the longitudinal centerline of said agricultural robot, alpha representing the determination by means of a dual antenna RTK-GNSSAnd obtaining the longitudinal plane included angle of the agricultural robot by a position orientation receiver.
Optionally, the system comprises:
when the angle of the longitudinal inclination is greater than 0, the vector of the setpoint to the actual position is represented as
When the angle of said longitudinal inclination is less than 0, the vector of said setpoint to said actual position is represented by
Therein, ΨPA vector, Ψ, representing the set point to the actual positionVRepresenting a heading angle of the agricultural robot.
Optionally, said determining the positioning position of said agricultural robot from said vector of set points to said actual position and said horizontal actual deviation is formulated as:
wherein (E)O，NO) Plane coordinates representing the location position, (E)p，Np) Plane coordinates representing the set point,/2Representing said actual deviation of the horizon, ΨPA vector representing the set point to the actual position.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the agricultural robot positioning method, the positioning antennas and the directional antennas are respectively installed on the left side and the right side of the agricultural robot, the positioning position of the agricultural robot is determined through the horizontal distance between the set point on the positioning antennas and the actual position of the agricultural robot and the vector from the set point to the actual position, the influence of the left-right swing of the agricultural robot on the positioning is reduced, and the positioning accuracy of the agricultural robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of an agricultural robot positioning method of the present invention;
FIG. 2 is a schematic view of the positioning principle of an agricultural robot according to the present invention;
FIG. 3 is a schematic diagram II of the positioning principle of an agricultural robot according to the present invention;
fig. 4 is a schematic structural diagram of an agricultural robot positioning 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.
The invention aims to provide a positioning method and a positioning system for an agricultural robot, which can correct errors of a positioning position through an inclination angle and improve the positioning precision of the agricultural robot.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention can effectively realize high-precision positioning of the agricultural robot in field automatic Navigation, and position and orient Global position information, absolute azimuth angle and roll angle information output by the receiver according to the double-antenna RTK-GNSS (Real-time kinematic-Global Navigation Satellite System).
Fig. 1 is a schematic flow chart of an agricultural robot positioning method of the present invention, and as shown in fig. 1, the agricultural robot positioning method includes:
step 101: the positioning antenna and the directional antenna are respectively installed on the left side and the right side of the agricultural robot, namely the positioning antenna is installed on one side of the agricultural robot, and the directional antenna is installed on the other side of the agricultural robot.
Step 102: obtaining a horizontal distance between a set point on the positioning antenna and the actual position of the agricultural robot, and defining the horizontal distance as a horizontal actual deviation; the actual position is the intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and the central line of the agricultural robot and a set horizontal plane.
Step 103: a vector of the set point to the actual position is obtained.
The obtaining the vector of the set point to the actual position specifically includes:
and obtaining the longitudinal inclined included angle of the agricultural robot.
And obtaining the course angle of the agricultural robot.
And determining a vector from the set point to the actual position according to the included angle between the heading angle and the longitudinal inclination.
The included angle of the longitudinal inclination is expressed as:
Δα＝α1-a, where Δ α represents the angle of inclination of the longitudinal direction, a1And the included angle between the connecting line between the actual position and the set point and the longitudinal central line of the agricultural robot is represented, and alpha represents the included angle of the longitudinal plane of the agricultural robot obtained by a double-antenna RTK-GNSS positioning and orientation receiver.
When the angle of the longitudinal inclination is greater than 0, the vector of the setpoint to the actual position is represented as
When said angle of longitudinal inclination isLess than 0, the vector of the set point to the actual position is represented by
Therein, ΨPA vector, Ψ, representing the set point to the actual positionVRepresenting a heading angle of the agricultural robot.
Step 104: and determining the positioning position of the agricultural robot according to the vector of the set point to the actual position and the horizontal actual deviation.
Said formula for determining the positioning position of said agricultural robot from said vector of set points to said actual position and said horizontal actual deviation is represented as:
wherein (E)O，NO) Plane coordinates representing the location position, (E)p，Np) Plane coordinates representing the set point,/2Representing said actual deviation of the horizon, ΨPA vector representing the set point to the actual position.
The following describes an agricultural robot positioning method according to the present invention in a specific embodiment. The positioning principle of an agricultural robot of the present invention is shown in fig. 2-3.
Step 1: the agricultural robot receives the navigation information and starts to operate
The positioning antenna and the directional antenna are respectively installed on the left side and the right side of the top end of an agricultural robot body, specifically, the positioning antenna is installed on the left side of the agricultural robot, the directional antenna is installed on the right side of the agricultural robot, the distance between the positioning antenna and the directional antenna is far, the distance between the positioning antenna and the directional antenna and the center line of the agricultural robot body are equal to R, and the intersection point of the plane where the positioning antenna and the directional antenna are perpendicular to the ground, the center line of the agricultural robot body and the ground is the actual position of. At the moment, the agricultural robot starts navigation, and the double-antenna RTK-GNSS positioning and orientation receiver starts to receive wireless position information, machine course and pitch angle information.
Step 2: starting operation of the agricultural robot and calculating inclination error
When the agricultural machinery starts to run, the uneven ground in the field enables the body of the agricultural machinery to incline, the position of the top antenna deviates, and the obtained positioning information is inclined to the left or right compared with the actual position of the agricultural machinery. At this point a tilt error calculation should be performed. The main calculation method is as follows:
1. calculating the deviation l between the antenna position and the actual position in the transverse plane of the vehicle body (the body of an agricultural robot)2: known height H (m) of agricultural vehicle, OP length l1(m) the included angle alpha (degree), l of the longitudinal plane of the vehicle body obtained by the receiver (double-antenna RTK-GNSS positioning and orientation receiver)1Angle alpha with longitudinal plane of vehicle body1(°), trigonometric functions can be formulated:
l2＝l1·sinΔα；
Δα＝α1-α。
2. the position of the point P with respect to the vehicle body center line can be determined from the value of Δ α. If delta alpha is greater than 0, the point P is on the left side of the center line of the vehicle body; if Δ α <0, point P is to the right of the vehicle body centerline.
3. Calculating vectors
When P is located on the left or right side of the vehicle body center line, the vector
Respectively in the directions of
And
therein ΨVThe resulting machine heading is measured for the receiver, referenced to the true north of the UTM (universal serial receiver machine tool or GRID SYSTEM, universal cross ink card grid system) planar coordinate system.
4. Location surveyAnd (4) correcting the error. The plane coordinate of the point O is (E)O，NO) From P coordinate (E)P，NP) Calculated according to the following formula:
when P is located on the centerline of the vehicle body, point O is located on the coordinate plane (E)O，NO) And (E)P，NP) The same is true.
Step 3: in the navigation process of the agricultural machine (agricultural robot), repeating Step1 to Step2 along with the advance of the vehicle body, and correcting the positioning error of the agricultural machine all the time, thereby finally realizing the high-precision positioning of the agricultural robot.
The invention can effectively solve the problem that the navigation precision is influenced by deviation of positioning information due to large ground fluctuation and inclination of agricultural machinery.
Fig. 4 is a schematic structural diagram of an agricultural robot positioning system of the present invention, and as shown in fig. 4, the agricultural robot positioning system includes:
a horizontal actual deviation obtaining module 201, configured to obtain a horizontal distance between a set point on the positioning antenna and an actual position of the agricultural robot, and define the horizontal distance as a horizontal actual deviation; the actual position is an intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and a central line of the agricultural robot and a set horizontal plane; the positioning antenna and the directional antenna are respectively installed on the left side and the right side of the agricultural robot.
A vector obtaining module 202 for obtaining a vector of the set point to the actual position.
A positioning position determining module 203 for determining the positioning position of said agricultural robot based on said vector of set points to said actual position and said horizontal actual deviation.
The vector obtaining module 202 specifically includes:
and the longitudinal inclined included angle acquisition unit is used for acquiring the longitudinal inclined included angle of the agricultural robot.
And the course angle acquisition unit is used for acquiring the course angle of the agricultural robot.
And the vector determining unit is used for determining the vector from the set point to the actual position according to the included angle between the course angle and the longitudinal inclination.
The included angle of the longitudinal inclination is expressed as:
Δα＝α1-a, where Δ α represents the angle of inclination of the longitudinal direction, a1And the included angle between the connecting line between the actual position and the set point and the longitudinal central line of the agricultural robot is represented, and alpha represents the included angle of the longitudinal plane of the agricultural robot obtained by a double-antenna RTK-GNSS positioning and orientation receiver.
The system further comprises:
when the angle of the longitudinal inclination is greater than 0, the vector of the setpoint to the actual position is represented as
When the angle of said longitudinal inclination is less than 0, the vector of said setpoint to said actual position is represented by
Therein, ΨPA vector, Ψ, representing the set point to the actual positionVRepresenting a heading angle of the agricultural robot.
Said formula for determining the positioning position of said agricultural robot from said vector of set points to said actual position and said horizontal actual deviation is represented as:
wherein (E)O，NO) Plane coordinates representing the location position, (E)p，Np) Plane coordinates representing the set point,/2Representing said actual deviation of the horizon, ΨPRepresents the aboveA vector of set points to said actual position.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An agricultural robot positioning method, characterized in that the method comprises:
respectively installing a positioning antenna and a directional antenna on the left side and the right side of an agricultural robot;
obtaining a horizontal distance between a set point on the positioning antenna and the actual position of the agricultural robot, and defining the horizontal distance as a horizontal actual deviation; the actual position is an intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and a central line of the agricultural robot and a set horizontal plane;
obtaining a vector of the set point to the actual position;
and determining the positioning position of the agricultural robot according to the vector of the set point to the actual position and the horizontal actual deviation.
2. An agricultural robot positioning method according to claim 1, characterized in that the obtaining of the vector of the set point to the actual position comprises in particular:
obtaining the longitudinal inclined included angle of the agricultural robot;
obtaining a course angle of the agricultural robot;
and determining a vector from the set point to the actual position according to the included angle between the heading angle and the longitudinal inclination.
3. An agricultural robot positioning method according to claim 2, characterized in that the included angle of the longitudinal inclination is expressed as:
Δα＝α1-a, where Δ α represents the angle of inclination of the longitudinal direction, a1And the included angle between the connecting line between the actual position and the set point and the longitudinal central line of the agricultural robot is represented, and alpha represents the included angle of the longitudinal plane of the agricultural robot obtained by a double-antenna RTK-GNSS positioning and orientation receiver.
4. An agricultural robot positioning method according to claim 3, characterized in that the method comprises:
when the angle of the longitudinal inclination is greater than 0, the vector of the setpoint to the actual position is represented as
When the angle of said longitudinal inclination is less than 0, the vector of said setpoint to said actual position is represented by
Therein, ΨPA vector, Ψ, representing the set point to the actual positionVRepresenting a heading angle of the agricultural robot.
5. Method according to claim 1, characterized in that the formula for determining the positioning position of the agricultural robot from the vector of the set point to the actual position and the horizontal actual deviation is expressed as:
wherein (E)O，NO) Plane coordinates representing the location position, (E)p，Np) Plane coordinates representing the set point,/2Representing said actual deviation of the horizon, ΨPA vector representing the set point to the actual position.
6. An agricultural robot positioning system, characterized in that the system comprises:
the horizontal actual deviation acquiring module is used for acquiring a horizontal distance between a set point on the positioning antenna and the actual position of the agricultural robot, and defining the horizontal distance as a horizontal actual deviation; the actual position is an intersection point of a plane formed by the positioning antenna and the directional antenna which are parallel to each other, and a central line of the agricultural robot and a set horizontal plane; the positioning antenna and the directional antenna are respectively arranged on the left side and the right side of the agricultural robot;
a vector acquisition module for obtaining a vector of the set point to the actual position;
and the positioning position determining module is used for determining the positioning position of the agricultural robot according to the vector of the set point to the actual position and the horizontal actual deviation.
7. An agricultural robot positioning system according to claim 6, wherein the vector acquisition module comprises in particular:
the longitudinal inclination included angle acquisition unit is used for acquiring the longitudinal inclination included angle of the agricultural robot;
the course angle acquisition unit is used for acquiring a course angle of the agricultural robot;
and the vector determining unit is used for determining the vector from the set point to the actual position according to the included angle between the course angle and the longitudinal inclination.
8. An agricultural robot positioning system according to claim 7, wherein the included angle of the longitudinal inclination is expressed as:
Δα＝α1-a, where Δ α represents the angle of inclination of the longitudinal direction, a1And the included angle between the connecting line between the actual position and the set point and the longitudinal central line of the agricultural robot is represented, and alpha represents the included angle of the longitudinal plane of the agricultural robot obtained by a double-antenna RTK-GNSS positioning and orientation receiver.
9. An agricultural robot positioning system according to claim 8, characterized in that the system comprises:
when the angle of the longitudinal inclination is greater than 0, the vector of the setpoint to the actual position is represented as
When the angle of said longitudinal inclination is less than 0, the vector of said setpoint to said actual position is represented by
Therein, ΨPA vector, Ψ, representing the set point to the actual positionVRepresenting a heading angle of the agricultural robot.
10. An agricultural robot positioning system according to claim 6, characterized in that the formula for determining the positioning position of the agricultural robot from the vector of the set point to the actual position and the horizontal actual deviation is expressed as:
wherein (E)O，NO) Plane coordinates representing the location position, (E)p，Np) Plane coordinates representing the set point,/2To representSaid actual deviation in level, ΨPA vector representing the set point to the actual position.
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| CN116699509A (en) * | 2023-06-08 | 2023-09-05 | 上海联适导航技术股份有限公司 | Agricultural machinery course determination method and device and agricultural machinery vehicle |
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| JONGMIN CHOI，XIANG YIN，LIANGLIANG YANG: "《Development of a laser scanner-based navigation system for a combine harvester》", 《ENGINEERING IN AGRICULTURE, ENVIRONMENT AND FOOD》 * |
| 张智刚 等: "《基于 Kalman滤波和纯追踪模型的农业机械导航控制》", 《农业机械学报》 * |
| 张智刚; 罗锡文: "《农业机械导航中的航向角度估计算法》", 《农业工程学报》 * |
| 胡雷: "《基于GNSS农机导航姿态校准研究》", 《中国优秀硕士学位论文全文数据库 农业科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116699509A (en) * | 2023-06-08 | 2023-09-05 | 上海联适导航技术股份有限公司 | Agricultural machinery course determination method and device and agricultural machinery vehicle |
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| Publication number | Publication date |
|---|---|
| CN112965091B (en) | 2022-07-12 |
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