CAJ | 학술논문

精确定位是实现智能旋耕机自主作业的关键技术.为此,利用无线传感器网络设计了智能旋耕机的定位系统,主要由部署在旋耕机上的移动定位节点、上位机和ZigBee无线传感器网络组成.无线网络主要由坐标位置已知的锚节点和移动的定位节点组成.移动的定位节点以低功耗芯片LPC2148作为控制核心,通过接收信号强度指示RSSI原理进行测距,利用3个CC2530模块分别采用三边测量法确定3个未知节点的位置,最后采用三点求质心法进一步提高了定位的精度;同时,借助无线传感器网络实现了与上位机的实时通信.测试结果表明:设计的智能旋耕机定位系统能够实现精确定位,且工作稳定可靠,对农田内8个随机位置坐标上的测量平均误差仅为0.242m,能够为智能旋耕机自主导航作业提供技术保障.
정학정위시실현지능선경궤자주작업적관건기술.위차,이용무선전감기망락설계료지능선경궤적정위계통,주요유부서재선경궤상적이동정위절점、상위궤화ZigBee무선전감기망락조성.무선망락주요유좌표위치이지적묘절점화이동적정위절점조성.이동적정위절점이저공모심편LPC2148작위공제핵심,통과접수신호강도지시RSSI원리진행측거,이용3개CC2530모괴분별채용삼변측량법학정3개미지절점적위치,최후채용삼점구질심법진일보제고료정위적정도;동시,차조무선전감기망락실현료여상위궤적실시통신.측시결과표명:설계적지능선경궤정위계통능구실현정학정위,차공작은정가고,대농전내8개수궤위치좌표상적측량평균오차부위0.242m,능구위지능선경궤자주도항작업제공기술보장.
The accurate positioning is the key technology to realize the intelligent autonomous operation of rotary cultiva -tor,and the positioning system of intelligent rotary cultivator is designed using wireless sensor networks.The system is mainly composed of mobile positioning node on the rotary cultivator, PC and ZigBee wireless sensor network, which is composed of known-coordinate anchor nodes and mobile node.The mobile node uses the low power chip LPC 2148 as the control core to measure the distance by the RSSI principle, and the three sided measurement is used to determine the three unknown-coordinate nodes by three CC 2530 modules, at last, the three point centroid method is used to further improve the positioning accuracy.Meanwhile, the communication between the PC and mobile positioning node is realized by the wireless sensor networks.The test results show that the deasign intelligent rotary cultivator positioning system can achieve precise positioning, and works stable and reliable, and the average error of 8 random locations within the farm-land is only 0.242m, which can provide technical support for the intelligent autonomous navigation operation of rotary cultivator.