农机协同作业的扩展目标跟踪研究

Extended Target Tracking Research for Cooperative Agricultural Machine Operations

针对农机协同作业等复杂工况下,需要获取场景中机动目标的运动状态及姿态轮廓等扩展状态问题,引入扩展目标跟踪方法,采用乘性噪声模型建立量测方程。同时,推导了该模型下的扩展目标跟踪滤波器,并通过仿真验证和试验证明本文方法可以有效实现对目标状态的有效估计,旨在为设施环境下绿叶菜自动收割-运输协同作业提供支持。

The paper introduces an extended target tracking method to address the problem of obtaining the extended state of motion and attitude contour of the maneuvering target in the scene under complex working conditions such as the collaborative operation of agricultural machines,firstly,the multiplicative noise model is used to establish the measurement equation,and then the extended target tracking filter under the model is derived,and the simulation verification and experiment show that the method in this paper can effectively achieve the effective estimation of the target state.The results can support the automatic harvesting-transportation cooperative operation of leafy greens in the facility environment.