农机化研究2024，Vol.46Issue(5)：13-18,25,7.
高地隙施药机自主作业杆臂辨识方法研究
Research on Identification Method of Autonomous Operation Lever Arm of High Ground Gap Applicator
摘要
Abstract
In order to improve the reliability of the automatic navigation system of the high clearance applicator and reduce the seedling injury rate,re-spraying and missing spraying in the operation process,the position and speed errors caused by the positioning lever arm are deduced based on the relative position relationship between RTK-GNSS and INS.Accord-ing to the lever arm error model and INS error model,a lever arm identification method based on GNSS/INS integrated navigation filter is proposed.Through the simulation experiment,the factors affecting the lever arm identification effect are analyzed,and the lever arm identification effect is verified based on the semi-physical test platform.The simulation results show that the linear motion of the carrier has little effect on the observability of the lever arm,but the angular motion a-round an axis can enhance the observability of the positioning lever arm in the angular motion plane,and increasing the angular velocity can improve the filtering convergence speed of the lever arm identification.The simulation and semi-phys-ical test platform show that the proposed lever arm identification method can effectively estimate the lever arm parameters between the sub navigation systems of the applicator.Set the true value of the lever arm in the simulation process as[1m 2m 3m],the identification result as[1.028m 2.047m 2.91m],the identification accuracy is more than 95%,the true value of the lever arm measured by the tape of the semi-physical test platform is[0.05m 0.2m 1m],the identification result is[0.056m 0.18m 1.05m],and the identification accuracy is more than 88%,with high reliability,it can replace the manual measurement in engineering application and improve the positioning accuracy of navigation system.关键词
高地隙施药机/无人驾驶/定位杆臂/杆臂辨识Key words
high ground gap applicator/unmanned/automatic navigation/tilt error/lever arm recognition分类
农业科技引用本文复制引用
吴抒航,魏新华,崔冰波,李国梁..高地隙施药机自主作业杆臂辨识方法研究[J].农机化研究,2024,46(5):13-18,25,7.基金项目
上海市科技兴农项目(沪农科推字(2019)第4-3号) （沪农科推字(2019）
国家自然科学基金项目(31901416) （31901416）
江苏省自然科学基金项目(BK20180859) （BK20180859）
