CAJ | 학술논문

基于单基站DGPS/DR组合导航，分析林业机器人运动规律，根据其运动方程非线性和导航数据线性的特点，提出采用比例无迹变换线性化运动方程和广义卡尔曼滤波处理综合组合导航数据。阐述了此方法的完整处理过程，并仿真分析比较了此处理方法与其他方法的效果。结果表明，此方法不损失定位精度，且求解速度快、可靠性好。
기우단기참DGPS/DR조합도항，분석임업궤기인운동규률，근거기운동방정비선성화도항수거선성적특점，제출채용비례무적변환선성화운동방정화엄의잡이만려파처리종합조합도항수거。천술료차방법적완정처리과정，병방진분석비교료차처리방법여기타방법적효과。결과표명，차방법불손실정위정도，차구해속도쾌、가고성호。
In this paper, the motion law of forestry robot was analyzed based on integrated navigation of the single station DGPS and DR. According to the characteristics of nonlinear motion equations and linear navigation data, the scaled un-scented transformation was used to linearize the equations of motion, and then extended Calman filter was used to process integrated navigation data. This paper describes handling process, and simulates the results of this method, and compare with other methods. The results showed that this method had a high speed of solving and good reliability, and did not loss the location accuracy.