自适应速度约束滤波在挖掘机GPS系统中的应用

Application of Adaptive Velocity Constraint Filter in Excavator GPS System

针对挖掘机工作特点的局限性,通过引用速度约束条件和自适应协方差矩阵,在位置速度加速度模型下,提出利用自适应速度约束卡尔曼滤波器对挖掘机动静态目标进行跟踪定位.仿真和实验结果表明:利用自适应速度约束和相关滤波算法,可以有效实现挖掘机运动目标的跟踪定位优化,同时滤波算法的航迹更为连续,跟踪精度更高,均方误差更小.

Based on the working performance limitation of excavator,a new adaptive velocity constraint kalman filter is proposed by referencing the velocity constraint conditions and adaptive covariance matrix.Under the position velocity acceleration model,the Kalman filter is improved to track and position the static and dynamic targets of excavator.Simulation and experimental results show that using adaptive velocity constraint and correlation filtering algorithm can realize the excavator moving target tracking and positioning optimization effectively.Meanwhile,the track of the filtering algorithm is more continuous,more accurate and smaller mean square error.