久保田插秧机的GPS导航控制系统设计

Design of GPS Navigation Control System for Rice Transplanter

将计算机技术、传感器技术、GPS技术和数据通讯技术等集成和融合,在久保田插秧机上开发了基于DGPS和电子罗盘的导航控制系统。论述了导航控制系统的结构和工作原理,提出了一种利用航向跟踪实现路径跟踪的控制方法。仿真和试验结果表明,该控制方法简单有效,导航控制系统可以控制插秧机按预定的路线行走。速度为0.75m/s,直线路径跟踪时,平均误差0.04m,最大误差0.13m;速度为0.33m/s,圆曲线路径跟踪时,平均误差0.04m,最大误差0.087m。

To study the automatic guidance control of intelligent farm machine, a navigation control system for rice transplanter was developed which integrated with computer technology, sensor technology,GPS technology and communication technology. The navigation control system could control rice transplanter to follow the predefined trajectory using DGPS and digital compass. Orientation and trajectory tracking algorithms were discussed in the paper. Simulation results based on simplified vehicle model verified the validity of the algorithms. Test results indicated that the lateral deviation was smaller than 0. 13 m while rice transplanter ran following the predefined route.