基于惯导技术的水田拖拉机下陷深度检测方法

Detection Method of Subsidence Depths of a Tractor in a Paddy Field Based on Inertial Navigation Technology

针对水田中一直存在的水和烂泥会对拖拉机下陷深度的检测带来干扰的问题,利用惯导技术提出了一种间接的、不接触水面实时检测拖拉机行驶过程中下陷深度的方法。构建了大地、惯导、左右下陷深度检测点的坐标系,推导了拖拉机静止和运动各坐标系之间基于欧拉角的相互表示的转换矩阵,结合惯导输出的三维加速度值和三位姿态角,得到根据转换矩阵计算车体沿垂直方向上的加速度和以此计算水田拖拉机整体和局部位置下陷深度的公式。实际计算结果表明,该方法适用于在水体和烂泥干扰严重的水田环境下检测拖拉机的下陷深度。

When a tractor travels in a paddy field, the detecting of its subsidence depth is always seriously disturbed by water and mud that exist in the paddy field. To solve this problem, based on inertial navigation technology, an indirectly and real-time detection method of detecting tractor subsidence depth without contact with water surface is proposed. Firstly, the coordinate system of the earth, inertial navigation, left and right subsidence depth detection points is constructed. Based on Euler angle, the conversion matrix between the stationary and moving coordinate systems of tractor is derived. According to the conversion matrix, the formula for calculating the vertical accelerations of the tractor and the subsidence depths of whole and local positions of the tractor is obtained, combined with the threedimensional acceleration values and three position attitude angles outputted by inertial navigation system. The actual calculation results show that the method is suitable for detecting the subsidence depths of a tractor in paddy field, which is seriously disturbed by water and mud usually.