【摘要】 为了提高轮式自主耕作拖拉机的导航定位精度及系统抗干扰能力,以YSH-504D轮式拖拉机为试验载体,选用载波相位差分GPS(RTK-DGPS)和惯性导航系统(INS)组合导航方式,重点对GPS因地形倾斜及土质硬度不均引起的误差进行校正。为此,构建了Kalman滤波器,对GPS定位数据进行平滑处理,融合了惯性导航系统参数,实时修正拖拉机的运动姿态,使拖拉机的行驶轨迹更加平稳。试验结果表明:校正后的GPS导航参数能够使拖拉机更好地跟踪目标路径,导航精度可达到厘米级别,满足了拖拉机在复杂地形下仍能按照预定轨迹自主耕作。更多还原

【Abstract】 In order to improve the positioning precision and anti-jamming capability of the driverless tractor,an automatic guidance system was based on the test platform of YSH-504 D wheeled tractor,using the integrated navigation as the guidance method that combined carrier phase differential GPS( RTK-DGPS) with inertial navigation system( INS),focused on the calibration of error caused by inclined ground and uneven soil. The Kalman filter with a fusion of INS parameters can calculate the attitude of tractor in real time through smoothing the GPS positioning data. At last,the positioning precision was upgraded to centimeter-level. The test result indicated that calibrated GPS navigation parameter could make the tractor track the target route better and reflect the true motion of the tractor,and achieve the goal of following the given trajectory on complicated field.更多还原