基于多传感融合的丘陵山地农机姿态检测单元

Multi⁃sensor fusion⁃based attitude detection unit for hilly and mountainous agricultural machinery

为推动丘陵山地农机发展,设计一种基于多传感融合的丘陵山地农机姿态检测单元。结合不同传感器采集数据特点,分别对倾角传感器采用标准中值滤波处理、对加速度计采用卡尔曼滤波处理后,利用平均加权融合算法对两种传感器处理后的数据进行融合处理,以获取更准确的农机姿态信息。试验表明,原始数据前后噪音波动最大范围为0~51.2°,多传感融合算法处理后的高频噪音基本消除,曲线平滑度得以提高,前后数据变化范围为0~2.2°,达到消除农机抖动噪音和外界干扰的效果。

In order to promote the development of agricultural machinery in hills and mountains,a posture detection unit of agricultural machinery in hills and mountains based on multi⁃sensor fusion is designed.Combining the characteristics of the data collected by different sensors,the standard median filter is used for the inclination sensor and the Kalman filter is used for the accelerometer.The average weighted fusion algorithm is used to fuse the processed data of the two sensors to obtain a more accurate⁃gricultural machinery posture information.Experiments show that the noise fluctuation range before and after the original data is 0~51.2°,the high frequency noise after the multi⁃sensor fusion algorithm is basically eliminated,the smoothness of the curve is improved,and the change range of the before and after data is 0~2.2°,which can eliminate the jitter noise of agricultural machinery and the effect of external interference.