CN207318730U

CN207318730U - A kind of evener device based on GPS and INS integrated navigations

Info

Publication number: CN207318730U
Application number: CN201721148846.5U
Authority: CN
Inventors: 黄欢; 朱楠
Original assignee: Jiangsu Normal University
Current assignee: Jiangsu Normal University
Priority date: 2017-09-08
Filing date: 2017-09-08
Publication date: 2018-05-04
Anticipated expiration: 2027-09-08

Abstract

The utility model provides a kind of evener device based on GPS and INS integrated navigations, including：Evener and its land level scraper, GPS navigation module, INS inertial navigation modules；The INS inertial navigation modules are mounted on the land level scraper, and the GPS navigation module is installed on evener fuselage；Master controller is set to connect GPS navigation module and INS inertial navigation modules, for being merged to the data measured by GPS navigation module and INS inertial navigation modules.The utility model is combined with the global positioning system and inertial navigation that advantage and disadvantage are individually present so that the attitude angle of the utility model output is more accurate, alleviates the workload of work personnel, improves work efficiency, realizes the horizontal location of evener.

Description

A kind of evener device based on GPS and INS integrated navigations

Technical field

It the utility model is related to positioning and navigation field, and in particular to a kind of evener based on GPS and INS integrated navigations Device.

Background technology

Rice provides main grain source, and the most important cereal crops in Asia for population in the world, with existing Generation society's industrialization develops rapidly with urbanization, and the labour of rice cultivation largely shifts to the secondary industry and the tertiary industry, traditional with people The needs of rice yield supply can not have been met as the mode of production of power by raiseeing.The U.S., Europe（The states such as Italy, Spain Family）Have been carried out carrying out landform exploration and the full-automation of live seed using unmanned plane with industrially developed country such as Australia Process.Asian countries is more with transplanting and traditional approach rice cultivation, wherein Japan and automation of the South Korea in terms of Rice Cropping Degree is higher.The field irrigation in China at present is again more based on surface irrigation.Since paddy field surface is uneven, water money is caused The serious waste in source, so the design of high-precision laser evener just seems particularly significant with developing.

China's rice planting mechanization is quickly grown in recent years, and the paddy field of fritter is integrated into by the development of prepartion of land technology The new paddy field of bulk carries out concentrative operation.The thick leveling of manual work, laser leveling machine can realize that three times are put down before being compared to Improvement in whole precision and compactness, and improve work efficiency.Since many job locations of evener are all in traffic Inconvenient area, is shown using quick, the accurate three-dimensional coordinate information for obtaining unmanned plane when unmanned plane exploration landform, sowing seed It is particularly important that obtaining., it is necessary to evener into line trace when agriculturally the work to evener progress grading operation is subsidized, accurately obtain Evener real time position is known so as to be subsidized according to operating distance.In addition, construction site evener break down and Stolen situation happens occasionally, if can not know the positional information of evener, then can all meet with economy and work efficiency Suffer a loss.If unit in charge of construction's malice debt causes equipment not withdraw, the production and sales company of equipment suffers from losing, so And at present China to the horizontal combination navigator fix of evener also without the research for carrying out related fields, and evener agricultural with Therefore industrial be increasingly used widely just is particularly important the horizontal location of evener.

In view of evener working environment, the easy losing lock of gps signal, C/A when running into complicated landform using satellite positioning tech Code（Thick catch code）With P codes（Accurate code）Energy concentrate near centre frequency, positioning accuracy is easily influenced by electronic deception, There is an urgent need to be improved.

Utility model content

To solve the above problems, the utility model provides a kind of evener device based on GPS and INS integrated navigations, The utility model is combined with the global positioning system and inertial navigation that advantage and disadvantage are individually present so that the appearance of the utility model output State angle is more accurate, alleviates the workload of work personnel, improves work efficiency, realizes the horizontal location of evener.

To realize the technical purpose, the technical solution of the utility model is：It is a kind of based on GPS and INS integrated navigations Evener device, including：Evener and its land level scraper, GPS navigation module, INS inertial navigation modules；

The INS inertial navigation modules are mounted on the land level scraper, and the GPS navigation module is installed on evener fuselage On；Master controller is set to connect GPS navigation module and INS inertial navigation modules, for being led to GPS navigation module and INS inertia Data measured by model plane block are merged.

Further, magnetometer is connected outside the INS inertial navigation modules, the INS inertial navigation modules are used to compensate magnetic The measured value of power meter.

Further, the 6 of the model MPU6050 that the INS inertial navigation modules are merged using gyroscope and accelerometer Axis motion process chip, and the master controller is connected by I2C interface.Gyroscope and accelerometer select MPU6050 modules, Pitch angle and roll angle are provided, the measuring environment of level is provided for magnetometer, and magnetometer measures return value is in master controller；Together When provide the angle that evener deviates north orientation, show that local accurate Magnetic Field removes compensation gyroscope.

Further, the magnetometer uses the three axis geomagnetic sensor of Honeywell reluctance type of model HMC5983L, and The master controller is connected by I2C interface.

Further, the GPS navigation module uses the GPS chip of model MAX-6Q, and described in being connected by I2C interface Master controller.

Further, the master controller is the microcontroller minimum control system of model STM32F103TB.

Further, barometer is set outside the master controller.

As the preferred of the utility model, the barometer uses the barometer chip of model BMP180, and passes through string Mouth connects the master controller.

The beneficial effects of the utility model are：

1）The utility model merges magnetometer inside controller, barometer, the sensor such as gyroscope and accelerometer The data fusion of GPS navigation module and INS inertial navigation modules is carried out after data again, draws the optimal estimation of error.Will leveling The positional information of machine is sent in the host computer of evener carrying in real time, realizes the horizontal location of evener.

2）Pitch angle in the attitude angle that the utility model INS inertial navigation modules provide can be used for replacing evener tune Obliquity sensor on flat bar, ensures high-precision while effectively reduces cost, make the attitude angle of output more accurate.

3）The course angle of the utility model is used for ensureing that evener is in linear motion state all the time, to mitigate work people The workload of member, improve work efficiency.

To sum up, the utility model is combined with the global positioning system and inertial navigation that advantage and disadvantage are individually present so that this reality Attitude angle with new output is more accurate, alleviates the workload of work personnel, improves work efficiency, realizes evener Horizontal location.

Brief description of the drawings

Fig. 1 is the circuit module principle of the utility model；

Fig. 2 is the GPS navigation module circuit diagram of the utility model；

Fig. 3 is the INS inertial navigation module circuit diagrams of the utility model；

Fig. 4 is the circuit diagram of the magnetometer of the utility model；

Fig. 5 is the barometrical circuit diagram of the utility model；

Fig. 6 is the circuit diagram of the main control module of the utility model；

Fig. 7 is the power module circuit schematic of the utility model.

Embodiment

The technical solution of the utility model will be clearly and completely described below.

As shown in Figure 1, a kind of evener device based on GPS and INS integrated navigations, including：Evener and its land level scraper, GPS navigation module, INS inertial navigation modules；

The INS inertial navigation modules are mounted on the land level scraper, for replacing the inclination angle on evener leveling bar to pass Sensor；The GPS navigation module is installed on evener fuselage；Master controller connection GPS navigation module and INS inertia is set to lead Model plane block, for being merged to the data measured by GPS navigation module and INS inertial navigation modules, draw evener in real time, Accurate speed, positional information.

Further, magnetometer is connected outside the INS inertial navigation modules, the INS inertial navigation modules are used to compensate magnetic The roll angle and pitch angle of power meter, are further compensate for the course angle of magnetometer offer.As shown in Figure 3 and Figure 4, magnetometer passes through Two pins of AUX SCL and AUX SDA are connected with INS inertial navigation modules.

Further, as shown in figure 3, the model that the INS inertial navigation modules are merged using gyroscope and accelerometer The 6 axis motion process chips of MPU6050, and the master controller is connected by I2C interface.The 6 axis movement of model MPU6050 Process chip is the first as the whole world, while is also inertial navigation, the most common component in navigation attitude field.Before this, gyroscope is with accelerating Degree meter fusion when between centers difference problem have always it is to be solved.And it is exactly solve this in place of leading over other assemblies Problem.

Further, as shown in figure 4, the magnetometer uses the three axis earth magnetism of Honeywell reluctance type of model HMC5983L Sensor, and the master controller is connected by I2C interface, provide course angle for evener.The Huo Ni of model HMC5983L The built-in reset of three axis geomagnetic sensor of Wei Er reluctance types is tested oneself with bias driver realization and migration, and compass precision is high, magnetic Field scope is wide, containing easy I2C bus interface, provides the angle that carrier deviates north orientation.

Further, as shown in Fig. 2, the GPS navigation module uses the GPS chip of model MAX-6Q, and connect by I2C Mouth connects the master controller.Carry high performance U-blox6 engine of positioning inside GPS chip, the engine have it is good with Track sensitivity, cold start-up sensitivity, acquisition speed and Anti-Jamming Technique.Series of modules uses ultra-miniature package, small, makes Used time has very high integrated level.It is easy to integrate with u-blox wireless modules.Ensure while low-power consumption and low cost are provided Good positioning accuracy.Breach the intelligent electric power management technology for low-power consumption application.

Further, as shown in fig. 6, the master controller is the microcontroller minimum control system of model STM32F103TB.

Further, as shown in figure 5, setting barometer outside the master controller, there is provided elevation in short-term, temperature survey.

Note：GPS navigation module, INS inertial navigation modules described in the utility model, magnetometer, barometer, main control The power supply module of device, using the voltage conversion chip of model MIC5219.

Roll angle, pitch angle described in the utility model in attitude angle, course angle be for evener it is right, preceding, on Three directions form right-handed system, are exactly roll angle around the rotation of forward axis, and the axis rotation around to the right is exactly pitch angle, around upward Axis rotation is exactly course angle；And the land level scraper is located at the front for evener.

The implementation steps of the utility model are as follows：

GPS navigation module is sent out the initial data collected by I2C with each sensor in INS inertial navigation modules Master controller is given, the first-order low-pass ripple that software carries out initial data is first passed through in the host controller, after filtering out high-frequency noise Data fusion is carried out by Kalman filtering algorithm.The difference for the navigational parameter that measurement each produces for two kinds of navigation system, The error of inertial navigation system is predicted, inertial navigation system is corrected using the optimal value after prediction.By the speed after correction, Positional information is sent to the host computer of evener carrying by serial ports, there is provided real-time position, velocity information.

Due to the characteristic of accelerometer in itself, and when evener works land level scraper vibration, on land level scraper The initial data of MPU6050 collections includes substantial amounts of noise, and there are drift phenomenon for gyroscope.Magnetometer must keep horizontal ability The accurate real time data that course angle is provided, it is therefore desirable to which the gyroscope in INS inertial navigation modules provides roll angle and pitch angle Parameter compensates it.To sum up, it is necessary to single order low-pass digital filter is carried out to the initial data of each sensor, high frequency is removed and makes an uproar Sound, so as to obtain the correct posture of land level scraper.Therefore use simple recurrence average filtering algorithm and FIFO（First In First Out）Mechanism combines, and the N number of sampled value continuously taken is regarded as the sequence of a length fixation, each sensor sample is arrived new ADC values be put into tail of the queue, respective stored is just removed in the data of head of the queue, filter result be sequence in N number of number average value.Pass Being bulldozed equal filtering algorithm has the PERIODIC INTERFERENCE of signal good inhibition effect, eliminates the high frequency section in signal, makes The smoothness higher of data.

Filtering algorithm is decomposed using UD to be combined with Extended Kalman filter.Measurement value sensor error covariance is carried out UD is decomposed, and reduces operand magnitude, is reduced the influence of linearisation rounding error, is added stability, make the attitude angle of output It is more accurate.

For those of ordinary skill in the art, on the premise of not departing from the utility model and creating design, may be used also To make several modifications and improvements, these belong to the scope of protection of the utility model.

Claims

A kind of 1. evener device based on GPS and INS integrated navigations, it is characterised in that including：Evener and its land level scraper, GPS navigation module, INS inertial navigation modules；The INS inertial navigation modules are mounted on the land level scraper, the GPS Navigation module is installed on evener fuselage；Set master controller to connect GPS navigation module and INS inertial navigation modules, be used for Data measured by GPS navigation module and INS inertial navigation modules are merged.
2. a kind of evener device based on GPS and INS integrated navigations according to claim 1, it is characterised in that described Magnetometer is connected outside INS inertial navigation modules, the INS inertial navigation modules are used for the measured value of compensation magnetometer.
3. a kind of evener device based on GPS and INS integrated navigations according to claim 2, it is characterised in that described 6 axis motion process chips for the model MPU6050 that INS inertial navigation modules are merged using gyroscope and accelerometer, and it is logical Cross I2C interface and connect the master controller.
4. a kind of evener device based on GPS and INS integrated navigations according to claim 2, it is characterised in that described Magnetometer uses the three axis geomagnetic sensor of Honeywell reluctance type of model HMC5983L, and described in being connected by I2C interface Master controller.
5. a kind of evener device based on GPS and INS integrated navigations according to claim 1, it is characterised in that described GPS navigation module uses the GPS chip of model MAX-6Q, and connects the master controller by I2C interface.
6. a kind of evener device based on GPS and INS integrated navigations according to claim 1, it is characterised in that described Master controller is the microcontroller minimum control system of model STM32F103TB.
7. a kind of evener device based on GPS and INS integrated navigations according to claim 1, it is characterised in that described Barometer is set outside master controller.
8. a kind of evener device based on GPS and INS integrated navigations according to claim 7, it is characterised in that described Barometer uses the barometer chip of model BMP180, and connects the master controller by serial ports.