基于GNSS+IMU的草方格固沙机自动巡航控制系统

An Automatic Navigation Control System for Grass-Square Sand Fixation Machine Based on GNSS+IMU

为了实现草方格固沙机的智能化工作,提出了一种基于GNSS+IMU的草方格固沙机自动巡航控制系统。系统以STM32F407VGT6作为主控芯片,将GNSS(全球导航卫星系统)和IMU(惯性测量单元)的位置、速度和航向角数据通过卡尔曼滤波算法融合,得到最优估计数据;然后,将最优估计数据输入增量式PID算法,以实现草方格固沙机在预定义区域内稳定的导航工作。同时,设计了Android APP终端,实现了用户终端对草方格固沙机的智能监控。研究结果表明:系统导航工作直线航向角偏差RMS不超过0.45,最大偏差不超过1.5°,满足草方格固沙机自动巡航工作的基本需求,体现了草方格固沙机在智能化定位导航方面的可行性与稳定性,可为草方格固沙机实现荒漠化治理提供依据。

In order to realize the intelligent work of the grass-square sand fixation machine,a GNSS+IMU based automatic cruise control system for the grass-square sand fixation machine was proposed.The system used STM32F407VGT6 as the main control chip to fuse GNSS(Global Navigation Satellite System)data and IMU(Inertial Measurement Unit)data by kalman filter algorithm to obtain the optimal estimation data of position,velocity and heading angle.The optimal estimation data were then fed into the incremental PID algorithm to achieve stable operation of the grass-square sand fixation machine in a predefined area.At the same time,an Android APP terminal was designed to realize intelligent monitoring between the grass-square sand fixation machine and the user terminal.The results of the sand study show that the system navigates within 0.45 RMS of the straight-line heading angle deviation and within 1.5°of the maximum deviation,which reflects the feasibility and stability of the grass-square sand fixation machine in intelligent automatic navigation and provides a basis for the grass-square sand fixation machine to realize desertification control.