CAJ | 학술논문

以洋马插秧机为研究平台，提出了一种基于多传感器信息融合的组合导航方法。该方法利用 DGPS、陀螺仪和加速度计能够在插秧机上实现低成本、高精度的导航定位。同时，通过插秧机的运动学分析，建立了农机的二维运动学模型；基于所建立的农机运动学模型，采用卡尔曼滤波的方法对插秧机的位置、速度和航向角进行精确的估计。通过对插秧机实际行走的数据进行仿真实验表明，该方法能够为插秧机提供可靠的导航信息。
이양마삽앙궤위연구평태，제출료일충기우다전감기신식융합적조합도항방법。해방법이용 DGPS、타라의화가속도계능구재삽앙궤상실현저성본、고정도적도항정위。동시，통과삽앙궤적운동학분석，건립료농궤적이유운동학모형；기우소건립적농궤운동학모형，채용잡이만려파적방법대삽앙궤적위치、속도화항향각진행정학적고계。통과대삽앙궤실제행주적수거진행방진실험표명，해방법능구위삽앙궤제공가고적도항신식。
The multi-sensor data fusion integrated navigation method is proposed based on the transplanter research plat -form.The method realize the low-cost and high precision navigation using DGPS , Gyro and Accelerometer on transplan-ter .The method build two dimensional kinematic model of Agricultural machinery through the transplanter kinematics a -nalysis .The method can realize accurately estimate of transplanter position , speed and heading by using the kalman filter based on the established kinematic model .Based on the actual data of transplanter walk , simulation results show that the method can provide reliable navigation information for transplanter .