利用内部信息的农用自动引导行走车的研究(第3报)——农业环境内位置检测系统

Study on Automatic Guiding of Agricultural Vehicle by Using Inner Sensors (Part 3) ——Position detecting system in agricultural environment

采用内部传感器（压电式陀螺仪角速度计和雷达式速度计）来检测行走车的角速度和速度，通过对检测量的积分可分别得到方向角和移动距离，并可由位置计算模型获得行走车的方位。考虑到农业环境内车辆的纵摇和横摇的影响，使用３个角速度计构成相互垂直的直角坐标系，依此对角速度进行修正。该位置检测系统获得了较好的检测精度。

A position detecting system for agricultural vehicle is introduced. The angular velocities and velocity of the vehicle are detected by inner sensors. The direction angular and the moving distance are obtained through integrating with detecting values and the direction can also be gotten from the position calculating model. On account of the influence of pitching and rolling three angular velometers are used so that a three right angular coordinate system is built and the angular velocities can be modified. This position detecting system is of good detecting accuracy.