农机化研究2024，Vol.46Issue(5)：37-44,8.
基于GNSS+IMU的草方格固沙机自动巡航控制系统
An Automatic Navigation Control System for Grass-Square Sand Fixation Machine Based on GNSS+IMU
摘要
Abstract
In order to realize the intelligent work of the grass-square sand fixation machine,a GNSS+IMU based auto-matic cruise control system for the grass-square sand fixation machine was proposed.The system used STM32F407VGT6 as the main control chip to fuse GNSS(Global Navigation Satellite System)data and IMU(Inertial Measurement Unit)data by kalman filter algorithm to obtain the optimal estimation data of position,velocity and heading angle.The optimal estimation data were then fed into the incremental PID algorithm to achieve stable operation of the grass-square sand fixa-tion machine in a predefined area.At the same time,an Android APP terminal was designed to realize intelligent monito-ring between the grass-square sand fixation machine and the user terminal.The results of the sand study show that the system navigates within 0.45 RMS of the straight-line heading angle deviation and within 1.5° of the maximum devia-tion,which reflects the feasibility and stability of the grass-square sand fixation machine in intelligent automatic naviga-tion and provides a basis for the grass-square sand fixation machine to realize desertification control.关键词
草方格固沙机/GNSS/IMU/卡尔曼滤波/PID/自动巡航Key words
grass-square sand fixation machine/GNSS/IMU/kalman filtering/PID/automatic navigation分类
农业科技引用本文复制引用
林子钧,尤德安,廖滔,张嘉谋,彭志锋,王红军..基于GNSS+IMU的草方格固沙机自动巡航控制系统[J].农机化研究,2024,46(5):37-44,8.基金项目
国家自然科学基金项目(32071912) （32071912）
