Vehicle heading angle measure technology based on RTK-GNSS and MEMS gyroscope

ZHANG Zhigang; ZHU Qiming; HE Jie; WANG Hui; YUE Binbin; DING Fan

doi:10.7671/j.issn.1001-411X.201905085

Journal of South China Agricultural University > 2019 > 40(5): 34-37. > DOI: 10.7671/j.issn.1001-411X.201905085

ZHANG Zhigang, ZHU Qiming, HE Jie, et al. Vehicle heading angle measure technology based on RTK-GNSS and MEMS gyroscope[J]. Journal of South China Agricultural University, 2019, 40(5): 34-37. DOI: 10.7671/j.issn.1001-411X.201905085

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Vehicle heading angle measure technology based on RTK-GNSS and MEMS gyroscope

College of Engineering, South China Agricultural University/Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, Guangzhou 510642, China

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Received Date: May 24, 2019
Available Online: May 17, 2023

Graphical Abstract

Abstract

Abstract

Objective
To better meet the accuracy requirement of vehicle heading angle measure.

Method
Kalman filter algorithm was proposed. The latitude, longitude and elevation measured by RTK-GNSS receiver were converted to plane coordinates using Gaussian projection. The Gaussian plane coordinates and the accumulated heading angle measured by gyroscope were integrated by Kalman filter, and finally more accurate heading angle was obtained.

Result
The integrated curve kept the entire variation trend of the heading angle measured by GNSS receiver and the partial variation trend measured by MEMS gyroscope. The curve was smoother than that based on GNSS and gyroscope, and could follow action of vehicle 180° turning.

Conclusion
The Kalman filter algorithm can measure the vehicle heading angle data in real time and the precision was improved 80% more than the result measured by GNSS.
- RTK-GNSS,
- MEMS gyroscope,
- vehicle heading angle measure,
- Kalman filter,
- data fusion

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References (15)

References

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Vehicle heading angle measure technology based on RTK-GNSS and MEMS gyroscope

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