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当前位置: 首页 > 文章 > 基于Kalman滤波和纯追踪模型的农业机械导航控制 农业机械学报 2009,40 (1) 12-18
Position: Home > Articles > Trajectory Tracking Control Method Based on Kalman Filter and Pure Pursuit Model for Agricultural Vehicle Transactions of the Chinese Society for Agricultural Machinery 2009,40 (1) 12-18

基于Kalman滤波和纯追踪模型的农业机械导航控制

作  者：
张智刚;罗淆文;赵祚喜;黄沛琛
单  位：
华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室
关键词：
DGPS;Kalman滤波;纯追踪模型;导航;插秧机
摘  要：
以KUBOTA SPU-68水田插秧机为试验平台,以RTK-DGPS为主要导航方式,辅以航向姿态参考系统AHRS500GA-227,研究提高农业机械导航控制精度的方法。在重点对GPS倾斜误差校正的基础上,设计了Kalman滤波器对定位数据进行平滑处理,同时实现磁航向传感器偏移误差的在线辨识与航向校正。采用纯追踪模型实现农业机械直线跟踪控制,基于ITAE优化准则,仿真研究了最佳前视距离的确定方法。试验结果表明:GPS倾斜误差校正和Kalman滤波后的导航参数可以更真实地反映插秧机水田实际运动状态;纯追踪模型可以用于插秧机田间作业直线导航,当行进速度0.6 m/s时,直线跟踪最大误差小于0.17 m,平均误差小于0.02 m。
译  名：
Trajectory Tracking Control Method Based on Kalman Filter and Pure Pursuit Model for Agricultural Vehicle
作  者：
Zhang Zhigang Luo Xiwen Zhao Zuoxi Huang Peichen(Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,South China Agricultural University,Guangzhou 510642,China)
关键词：
DGPS,Kalman filter,Pure pursuit model,Navigation,Transplanter
摘  要：
An automatic guidance system was developed on KUBOTA SPU-68 rice transplanter using Trimble 5700 RTK-DGPS and Crossbow AHRS500GA-227.RTKDGPS positioning data was corrected using the heading,roll and pitch parameters acquired from AHRS500GA.A Kalman filter based on position-velocity model was developed to smooth the corrected DGPS positioning data and evaluate the bias error of the heading angle.A new trajectory tracking control method was proposed based on pure pursuit model.The determination method of the look-ahead distance was studied in detail for line tracking.Simulation result indicated that the optimized look-ahead distance could be determined for a special traveling speed based on the ITAE optimization.The test result showed that the proposed positioning and orientation evaluation algorithm could eliminate the effects of uneven field condition on GPS positioning and evaluate the bias error of the heading angle from AHRS online.The developed trajectory tracking controller was helpful to improve the tracking control performance.The maximal lateral tracking error could be kept within a range of ±0.17 m and the mean lateral tracking error was less than 0.02 m at the normal traveling speed.

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