摘要
根据拖拉机工作环境的特殊性,为了识别拖拉机是否在期望路径上行驶,也为了提高拖拉机在农田作业的导航精度,为拖拉机转向系统的实时控制做准备。采用了RTK-GPS双天线采集拖拉机位置数据,对定位数据进行卡尔曼滤波融合后,再实时解算拖拉机的姿态。使拖拉机的导航精度提高到了厘米级,并且更真实准确地反映了拖拉机的运动状态,达到了只用双天线就能实时得到和修正拖拉机的姿态的目的。
According to the particularity of the tractor working environment, in order to identiiy whether the tractor on the expected path, also in order to improve the navigation precision of the tractor when work in farmland, prepares the real-time control for tractor steering system. Double antenna RTK-GPS is adopted to collect tractor location data, Kalman filtering fusion for positioning data, and real-time decoding the attitude of the tractor. The navigation precision of tractor is improved to the centimeter level, and the real tractor motion state is more accurately reflected, reached the purpose that real-time get and correct the attitude of the tractor with only dual antenna.
出处
《信息技术》
2015年第7期84-87,共4页
Information Technology
