农机化研究2025，Vol.47Issue(12)：36-44,9.DOI:10.13427/j.issn.1003-188X.2025.12.005
农业机器人导航系统设计与试验
Design and Experiment of Agricultural Robot Navigation System Based on Drone Remote Sensing and BeiDou Positioning
摘要
Abstract
To solve the problem of low operational efficiency and navigation accuracy of agricultural robots based on satel-lite navigation systems,which were limited by real-life scenarios in farmland,a navigation system based on the combina-tion of UAV remote sensing image and Beidou RTK(real time kinematic)positioning was proposed to realize the automatic navigation and tracking control of robots in complex farmland environment.The UAV equipped with image sen-sors was used to collect farmland images,and then two-dimensional reconstruction was carried out to generate two-dimen-sional orthophoto images,and the farmland map was built;Beidou RTK Positioning,dual antenna orientation and gyro-scope were used for integrated navigation,and compensated Kalman filter algorithm was integrated to obtain the robot heading.The lateral deviation and heading deviation between the actual position and and the tracking line of the robot were controlled to make the robot follow the operation path.The test results showed that at the driving speeds of 0.3,0.5 and 0.7 m/s,the average value of the lateral deviation between the actual trajectory and the target path was 4.1,6.2 and 7.6 cm,and the standard deviation was 2.1,2.5 and 3.1 cm.Each deviation increased with the increase of speed.At the three speeds,the average value of the lateral deviation of the target point was 4.3,6.1 and 7.0 cm,and the standard deviation was 2.1,2.4 and 2.8 cm;The average value of the heading deviation of the target point was 6.8°,8.2° and 9.7°,and the standard deviation was 4.0°,6.1° and 6.9°.The farmland map constructed by UAV remote sensing ima-ges could be effectively combined with Beidou RTK Positioning to achieve accurate path planning and navigation of agri-cultural robots,and the navigation accuracy could meet the needs of robots to carry out tasks in farmland.关键词
农业机器人/导航系统/无人机遥感/北斗RTK/双天线定向/补偿卡尔曼滤波算法Key words
agricultural robot/navigation system/unmanned aerial vehicle remote sensing/Beidou RTK/dual antenna orientation/compensation Kalman filter algorithm分类
农业科技引用本文复制引用
李文峰,徐蕾,朱崇阳,刘文荣,潘坤,李影芝,李超..农业机器人导航系统设计与试验[J].农机化研究,2025,47(12):36-44,9.基金项目
云南省作物智慧生产国际联合实验室专项(202303AP140014) （202303AP140014）
云南省重大科技专项(202202AE090021) （202202AE090021）
