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当前位置: 首页 > 文章 > RTK-DGPS融合惯性传感器的车辆导航参数计算方法 农业机械学报 2015,40 (5) 7-12
Position: Home > Articles > Method for Calculating Navigation Parameters Via RTK- DGPS Fusing Inertial Sensor for Agricultural Vehicle Transactions of the Chinese Society for Agricultural Machinery 2015,40 (5) 7-12

RTK-DGPS融合惯性传感器的车辆导航参数计算方法

作  者：
张美娜;尹文庆;林相泽;吕晓兰
单  位：
江苏省农业科学院农业设施与装备研究所;南京农业大学江苏省智能化农业装备重点实验室
关键词：
农用车辆;实时动态差分GPS;惯性传感器;导航参数;融合
摘  要：
为实现农用车辆精确导航,提出一种RTK-DGPS融合惯性传感器的导航参数计算方法。横向偏差是利用惯性传感器采集的姿态角经几何变换补偿系统中存在的杆臂效应再进行计算得到的。试验结果表明,系统存在俯仰和侧倾时,此方法平均补偿了0.08 m的横向偏差,通过提高系统的定位精度得到了更精准的横向偏差。由于惯性传感器难以适用于磁场干扰较大的环境,为此,提出仅利用RTK-DGPS计算航向偏差的方法,即利用最小二乘法拟合RTK-DGPS动态定位点形成车辆行驶路径并进行计算。试验结果表明,车辆直线行驶、做圆周运动与沿任意曲线行驶时,惯性传感器与RTK-DGPS计算的航向偏差之间的平均误差分别为0.963 6°、3.641 8°与2.756 2°,验证了利用RTK-DGPS计算航向偏差的可行性。
译  名：
Method for Calculating Navigation Parameters Via RTK- DGPS Fusing Inertial Sensor for Agricultural Vehicle
作  者：
Zhang Meina;Yin Wenqing;Lin Xiangze;Lü Xiaolan;Institute of Agricultural Facilities and Equipment,Jiangsu Academy of Agricultural Sciences;Jiangsu Key Laboratory for Intelligent Agricultural Equipment,Nanjing Agricultural University;
关键词：
Agricultural vehicle RTK-DGPS Inertial sensor Navigation parameters Fusing
摘  要：
A method for calculating navigation parameters via RTK- DGPS fusing inertial sensor was proposed in order to improve the navigation precision of agricultural vehicle. The key for calculating the lateral deviation was the compensation of the lever-arm effect error via the geometric transformation with the attitude angles form the inertial sensor. Test results showed that the mean error compensated by this method was 0. 08 m when the pitch and roll was existed. Benefit from the compensation,we got more accurate lateral deviation by the enhanced positioning accuracy. The error of the heading deviation calculated by the inertial sensor will be larger when there is magnetic interference around the working environment. Therefore,another method to calculate the heading deviation was proposed,which is using least-square method to fit the travel path with the dynamic positioning points measured by RTK-DGPS.Test results showed that when the vehicle was steered along a straight line,a circle and a curve,the mean errors were 0. 963 6°,3. 641 8° and 2. 756 2° between two methods which were measured and calculated by RTK-DGPS and the inertial sensor. So it was proved that the heading deviation could be calculated by RTK-DGPS effectively. Two methods can enhance the adaptability of the system,the heading deviation can be got by RTK-DGPS instead of the inertial sensor under the environment with magnetic interference.

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