基于Qt/Embedded的农林智能装备导航定位算法研究及软件设计

Research on navigation and positioning algorithms and software design of agricultural and forestry intelligent equipment based on Qt/Embedded

随着农林装备的智能化发展,导航定位成为其中重要功能之一。研究基于ODO和ATK-S1216F8-BD-GPS/北斗定位模块,利用嵌入式Qt技术和Sqlite数据库技术,在Ubuntu系统下设计了具有一定通用性的导航定位软件,该软件便于嵌入到各种农林智能装备,用于农林培育、农林巡检和农林消防等方面,具有定位监测、实时导航、信息管理、数据处理和报警提示等功能,为各类农林装备集成化开发提供便利。同时针对ODO误差累积和GPS定位中断的现象,提出基于GPS/ODO的定位算法,实现更为精准的定位。将该导航定位软件应用于某型号的林草巡检机器人进行实验,实验结果表明,该导航定位软件可以较好地实现信息获取和路径规划,具有良好的可扩展性和通用性,与传统的使用单一GPS模块和ODO模块的导航定位系统相比,具有更高的定位精度。

With the intelligent development of agricultural and forestry equipment,navigation and positioning have become one of the important functions.Based on the ATK-S1216 F8-BD-GPS/Beidou positioning module and ODO,the search uses embedded Qt technology and Sqlite database technology to design a certain universal navigation and positioning software under the Ubuntu system.The software is easy to be embedded in various agricultural and forestry intelligent equipment used for agriculture and forestry cultivation,agriculture and forestry inspection,and agriculture and forestry fire protection.It has functions of positioning monitoring,real-time navigation,information management,data processing and alarm prompts,which facilitates the integrated development of various agricultural and forestry equipment.At the same time,in view of the phenomenon of GPS positioning interruption and accumulation of errors generated by ODO,a positioning algorithm based on GPS/ODO is proposed to achieve more precise positioning.The navigation and positioning software is applied to a certain model of forest and grass inspection robot for experiments.The experimental results show that the navigation and positioning software can achieve better information acquisition and path planning,and has good scalability and versatility.Compared with the traditional navigation and positioning system using a single GPS positioning module or a single ODO module,it has higher positioning accuracy.