【作者】 黎永键； 赵祚喜；

【Author】 Li Yongjian, Zhao Zuoxi (College of Engineering, South China Agricultural University, Guangzhou 510642)

【机构】 华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室； 华南农业大学工程学院；

【摘要】 精细农业作业中,农业智能车辆田间导航定位需要测量载体姿态角、航向角。姿态航向参考系统能够准确测量静态和动态下的横滚角、俯仰角、航向角,并提供载体角速率、加速度等信息。本文首先介绍了国内外关于姿态航向参考系统在精细农业的应用状况。接着本研究对美国Crossbow公司生产的姿态航向参考系统AHRS500GA进行了读取数据、解数据包和田间动态试验的工作。介绍了采用MATLAB软件读出AHRS500GA的数据,并对数据包进行解算从而得出导航参数的方法。采用GPS与AHRS500GA组合导航定位的方法,本研究进行了包括无人驾驶插秧机田间直线行走以及地头转向试验。试验结果表明使用AHRS500GA与GPS的组合导航系统可以有效解决GPS定位失准、航向角发散等问题。更多还原

【Abstract】 Along with the development of precision agriculture, there is an urgent need to solve the problem of measuring carrier’s attitude angle and heading angle for agricultural intelligent vehicle. Attitude and heading reference system(AHRS) can accurately measure the roll angle, pitch angle and heading angle in both the static and dynamic mode. In order to verify the performance of attitude and heading reference system, a series of research work has been done on the AHRS500GA including data packets reading, packets solution and the dynamic test in field . This article introduces the method to read data packets from AHRS500GA by using software MATLAB, and also list the program flowchart. In order to eliminate the effects caused by roll and pitch angle and provide more precise positioning data when the farming vehicle is working in farmland ,the method is put forward that GPS positioning data was corrected by using Attitude and Heading Reference System and related experiment was carried out in the experimental platform. This paper introduces the intelligent flexible farming platform as well as the experiments carried out on the platform, including unmanned rice transplanter straight running test and headland turning test in field. In this experiment, the integrated navigation system was constituted by GPS and AHRS500GA ,in which GPS provides the vehicle position and AHRS500GA measures the pitch angle, roll angle and heading angle. Experimental results show that using AHRS and GPS navigation system can effectively solve the GPS misalignment, heading divergence etc.更多还原