水田激光平地机平地铲姿态测量系统的设计

Design of Attitude Measurement System for Flat Shovel of Laser-controlled Land Leveler for Paddy Field

水田激光平地机水平控制作为农田激光平地技术的重要组成部分,其研究过程中首先要解决平地铲实时倾角测量问题。为提高倾角测量精度,设计了平地铲姿态测量系统,采用MEMS传感器集成模块ADIS16300作为惯性测量单元,通过卡尔曼滤波实现传感器信息融合以计算平地铲倾角。分析了姿态测量系统的构成,阐述了两种传感器融合测量实时倾角的方法,基于ARM7 Cotex-M3微处理器设计了姿态测量系统硬件。采用AHRS500GA对该姿态测量系统性能进行了融合算法验证与ADIS16300测量平地铲倾角验证。测试结果表明,该姿态测量系统能在动态条件下准确地测定平地铲实时倾角,可以进一步应用于激光平地机的水平控制之中。

Attitude measurement is essential for leveling control of the flat shovel in laser-controlled land levelers intended for paddy field work.This paper presents an efficient low-cost design of an attitude measurement system,among which their main features are: monitoring the plow's inclination by fusing one tri-axial accelerometer and one digital gyroscope integrated in ADIS16300(MEMS inertial sensor module);collecting information and calculating attitude angles by using ARM7 processor Cotex-M3.The makeup of the whole attitude measurement system,function of ADIS16300 and their installation on the plow are presented.One kalman filter is then designed as sensor data fusion method for measuring real-time plow inclination.Finally,experimental results are presented based on the comparisons between fused data and reference data from an AHRS500GA instrument,showing that the proposed fusion method gives quite accurate inclination information of the plow and the whole leveling system works reliably.