智能农机中精准定位的研究与实现

Research and implementation of precise positioning in intelligent agricultural machinery

对智能农机自动驾驶或辅助驾驶中定位方式进行改进,采用GPS/INS组合导航的方式实现精准定位。GPS/INS组合导航能克服仅采用GPS或INS进行定位的缺陷,实现优势互补,减少定位误差。研究了GPS/INS组合导航算法,并对GPS和INS数据采用卡尔曼滤波进行处理,从位置、速度、姿态三方面进行仿真对比分析,验证该算法确实能够减少定位误差,实现较精准的定位。

To improve the positioning mode of automatic and auxiliary driving of intelligent agricultural machinery,we adopted the Global Positioning System（ GPS）/Inertial Navigation System（ INS） integrated navigation to achieve accurate positioning.GPS/INS integrated navigation can overcome the defects of positioning only by GPS or INS,complement each other and reduce positioning errors.In this paper,we studied the algorithm of GPS/INS integrated navigation and using Kalman filter to process GPS/INS data.The simulation results from three aspects of position,speed and attitude show that the algorithm can reduce the positioning error and achieve accurate positioning.