农机不间断组合导航系统探究
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摘要
针对农机田间作业过程中易出现短时间全球卫星导航系统(GNSS)信号、实时动态(RTK)信号丢失导致的农机导航系统无法连续工作的问题,提出采用捷联惯性导航系统和GNSS的组合导航方法进行不间断导航的思路,在GNSS信号、RTK信号短时间丢失期间为农机提供导航信息。仿真实验结果验证了方法的有效性。
Aiming at the problem that it is liable to lose the signals of GNSS and RTK in a short time for the working agricultural machinery,which results in the uninterrupted navigation of the related system,the paper proposed the integrated navigation method of strap-down inertial navigation system(SINS)and global navigation satellite system(GNSS),which could supply the navigation information for the machinery during the short-time signal loss of GNSS and RTK.Simulational result tested the feasibility of the proposed method.
Aiming at the problem that it is liable to lose the signals of GNSS and RTK in a short time for the working agricultural machinery,which results in the uninterrupted navigation of the related system,the paper proposed the integrated navigation method of strap-down inertial navigation system(SINS)and global navigation satellite system(GNSS),which could supply the navigation information for the machinery during the short-time signal loss of GNSS and RTK.Simulational result tested the feasibility of the proposed method.
引文
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[9]陈铁明,马继霞,SAMUEL H H,等.一种新的快速特征选择和数据分类方法[J].计算机研究与发展,2012,49(4):735-745.
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[11]沈凯,管雪元,李文胜.扩展卡尔曼滤波在组合导航中的应用[J].传感器与微统,2017(8):158-160.
[12]王君帅,王新龙.SINS/GPS紧组合与松组合导航系统性能仿真分析[J].航空兵器,2013(2):14-19.
[2]张琳洁,张文爱,韩应征,等.农业机械导航关键技术发展分析[J].农机化研究,2016,38(6):10-15.
[3] YU M J.INS/GPS integration system using adaptive filter for estimating measurement noise variance[J].IEEE Transactions on Aerospace&Electronic Systems,2007,48(2):1786-1792.
[4] PURDY D.A review of ground vehicle dynamic state estimations utilising GPS/INS[J].Vehicle System Dynamics,2011,49(1-2):29-58.
[5]刘晓光,胡静涛,白晓平,等.插秧机多传感器组合导航方法研究[J].农机化研究,2014(5):25-30.
[6]刘军,袁俊,蔡骏宇,等.基于GPS/INS和线控转向的农业机械自动驾驶系统[J].农业工程学报,2016,32(1):46-53.
[7]黎永键,赵祚喜,高俊文.基于GPS/SINS组合的农业导航定位系统设计与研究[J].农机化研究,2014(3):16-22.
[8]张京,陈度,王书茂.农机INS/GNSS组合导航系统航向信息融合方法[J].农业机械学报,2015,46(增刊1):1-7.
[9]陈铁明,马继霞,SAMUEL H H,等.一种新的快速特征选择和数据分类方法[J].计算机研究与发展,2012,49(4):735-745.
[10]张伦东,练军想,胡小平.载体角运动对旋转式惯导系统旋转调制效果的影响[J].国防科技大学学报,2011,33(4):152-156.
[11]沈凯,管雪元,李文胜.扩展卡尔曼滤波在组合导航中的应用[J].传感器与微统,2017(8):158-160.
[12]王君帅,王新龙.SINS/GPS紧组合与松组合导航系统性能仿真分析[J].航空兵器,2013(2):14-19.