基于GNSS的农机自动导航路径搜索及转向控制

发布时间：2018-05-19 06:19

本文选题：农业机械 + 导航　；参考：《农业工程学报》2017年S1期

【摘要】：为提高农机自动导航系统性能,提出了一种基于全球导航卫星系统(global navigation satellite system,GNSS)的农机自动导航路径搜索方法和基于预瞄点搜索的纯追踪模型。根据农机不同作业需求,导航系统可选择直线路径搜索或曲线路径搜索,实现农机直线和曲线自动导航作业;建立基于预瞄点搜索的纯追踪模型,并将其用于农机转向控制,该模型不涉及复杂的控制理论,适用性较强。为验证路径搜索方法和纯追踪模型性能,以John Deere拖拉机为试验平台,进行了农机直线跟踪和转向控制导航试验。结果表明:直线路径跟踪导航试验,车速为0.8、1.0和1.2 m/s时,导航均方根误差分别为3.79、4.28和5.39 cm;转向导航试验,车速为0.6 m/s时,在弓形转弯和梨形转弯导航方式下,导航均方根误差分别为25.23和14.42 cm;与模糊控制方法对比试验,直线路径导航方式下,应用该文方法和模糊控制方法的导航均方根误差分别为4.30和5.95 cm,在曲线路径导航方式下,应用该文方法和模糊控制方法的导航均方根误差分别为13.73和21.40 cm;基于GNSS的农机自动导航路径搜索方法和预瞄点搜索的纯追踪模型可以得到较好的定位控制精度,可满足田间实际作业的要求。
[Abstract]:In order to improve the performance of agricultural machinery automatic navigation system, a method of automatic navigation path search for agricultural machinery based on global navigation satellite system GNSS and a pure tracking model based on preview point search were proposed. According to the different operation requirements of agricultural machinery, the navigation system can choose straight line path search or curve path search to realize the automatic navigation operation of agricultural machinery line and curve, establish a pure tracking model based on preview point search, and apply it to the steering control of agricultural machinery. The model does not involve complex control theory and is applicable. In order to verify the performance of the path search method and the pure tracking model, the linear tracking and steering control navigation experiments of agricultural machinery were carried out with John Deere tractor as the test platform. The results show that the root mean square error of navigation is 3.79n4.28 and 5.39 cm respectively when the vehicle speed is 0.8m / s and 1.2 m / s, and the steering navigation test shows that when the speed is 0.6 m / s, the root-mean-square error (RMS) is 3.79 cm and 5.39 cm respectively, and when the speed is 0.6 m / s, the root-mean-square error is 3.79 cm and 5.39 cm respectively. The root-mean-square error of navigation is 25.23 cm and 14.42 cm respectively. Compared with the fuzzy control method, the RMS error of navigation using this method and fuzzy control method is 4.30 cm and 5.95 cm respectively in the linear path navigation mode, and in the curve path navigation mode, the mean square root error of navigation is 4.30 cm and 5.95 cm respectively. The root mean square error of navigation using this method and fuzzy control method is 13.73 cm and 21.40 cm, respectively. The GNSS based automatic navigation path search method and the pure tracking model of preview point search can obtain better positioning control accuracy. It can meet the requirements of field operation.
【作者单位】：中国农业大学现代精细农业系统集成研究教育部重点实验室;农业部农业信息获取技术重点实验室;
【基金】：国家自然科学基金项目(31571570) 北京市科委项目(D161100001416002) 国家国际科技合作专项项目(2015DFG12280)
【分类号】：TN967.1;S22

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