基于GPS平地的路径规划方法的研究

发布时间：2018-03-26 12:28

本文选题：GPS　切入点：平地机　出处：《河北农业大学》2013年硕士论文

【摘要】：GPS控制平地系统可提高农田区域的土地平整作业精度，并且可以全天候作业，受到天气等外界因素影响小，自动化控制程度较高，是达到节水灌溉，提高农业产量的高科技技术装备，其作业路径规划的寻优是提高平整作业效率的关键技术。本研究基于已有的GPS控制平地系统和相关的研究成果，通过处理和分析农田区域的GPS三维数据信息，计算平地基准高程和运移土方量，并根据运移土方量最小原则，利用数学建模的方法和最优规划理论，对基于GPS技术的平地作业路径规划方法进行了研究。本研究所做工作主要包括以下几个方面：第一，研究了GPS控制平地系统的工作原理和工作特点，，并在此基础上设计路径规划系统的总体结构和软件系统工作流程，划分软件功能模块及确定软件开发的方式。软件开发过程中采用了VC++2010结合Surfer Automation，MATLAB的混合编程技术来实现相应软件功能。第二，研究了GPS数据的坐标转换和误差校正的处理方法，采用了先对农田区域GPS三维数据插值后再利用算数平均法计算平地基准高程和运用DEM栅格法计算运移土方量的方法，从而有效降低了数据误差对于路径规划的影响。第三，介绍了如何借助ActiveX控件技术，依据GPS数据生成三维电子地形图，并对三维电子地形图进行编辑管理功能的软件开发方法。实现了对三维电子地形图的可视化分析。第四，提出了运用数学建模的理论对基于GPS平地的作业路径进行规划的方法。主要通过运用对GPS三维地形数据栅格化、高程信息分析、平地制约因素简化和路径分类分析的方法实现了对作业路径的寻优，从而辅助驾驶员高效率的实施土地平整作业。最后，利用基于GPS平地的路径规划系统对GPS三维地形测量数据进行了仿真试验，通过实验结果验证了本研究所提出的路径规划方法的可行性。
[Abstract]:GPS control flat land system can improve the precision of land leveling operation in farmland area, and can be operated all the time. It is less affected by weather and other external factors, and the degree of automation control is higher, which is to achieve water-saving irrigation. The optimization of operation path planning is the key technology to improve the efficiency of leveling operation. Based on the existing GPS control flat land system and related research results, through processing and analyzing the GPS 3D data information of farmland area, the standard elevation and the moving earthwork amount are calculated, and according to the principle of minimum amount of moving earthwork, Based on the mathematical modeling method and optimal programming theory, this paper studies the path planning method of flat ground operation based on GPS technology. The work of this study mainly includes the following aspects:. First, the working principle and working characteristics of GPS control flat land system are studied, and the overall structure of the path planning system and the working flow of the software system are designed on this basis. In the process of software development, the mixed programming technology of VC 2010 and Surfer Automation MATLAB is used to realize the corresponding software function. Secondly, the method of coordinate transformation and error correction of GPS data is studied. The method of interpolating GPS 3D data of farmland area and then calculating base elevation of flat ground by arithmetic average method and calculating the amount of moving earthwork by DEM grid method are adopted. Thus, the influence of data error on path planning is reduced effectively. Thirdly, this paper introduces how to generate 3D electronic topographic map according to GPS data with the help of ActiveX control technology, and the software development method of editing and managing 3D electronic topographic map, and realizes the visualization analysis of 3D electronic topographic map. Fourthly, the paper puts forward a method of planning the operation path based on GPS flat ground by using the theory of mathematical modeling, mainly through rasterization of GPS 3D terrain data and analysis of elevation information. The simplification of land constraints and the method of path classification analysis have realized the optimization of the operation path, thus assisting the driver to carry out the land leveling operation with high efficiency. Finally, the path planning system based on GPS flat land is used to simulate the 3D terrain survey data of GPS, and the feasibility of the proposed path planning method is verified by the experimental results.
【学位授予单位】：河北农业大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：S281;P228.4;TP301.6

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