- Chinese Core Journal
- Chinese Science Citation Database (CSCD) Source journal
- Journal of Citation Report of Chinese S&T Journals (Core Edition)
| Citation: |
HE Jie, GAO Weiwei, WANG Hui, et al. Wheel steering angle measurement method of agricultural machinery based on GNSS heading differential and MEMS gyroscope[J]. Journal of South China Agricultural University, 2020, 41(5): 91-98. DOI: 10.7671/j.issn.1001-411X.202002014
|
To replace the link-type wheel angle sensor which is complicated to install, a method for measuring the front wheel angle of agricultural machinery was designed.
GNSS antenna was used to measure the course and speed information, and MEMS gyroscope was used to measure the combined rotation speed of the tractor body and wheel. The differential difference between MEMS gyroscope and GNSS heading was calculated to obtain the wheel rotation rate. The self-adaptive Kalman filter was designed to fuse and correct the information, and wheel steering angle was obtained. Performance verification and field application test were conducted.
The performance of the wheel angle measurement method designed in this paper was verified by comparing its measurement result with that of the link-type wheel angle sensor. When the course deviations of the tractor were 2.5 and 1.5 m respectively, the mean absolute errors (MAE) of the new measurement method were 1.13° and 0.87° respectively, the root mean square errors (RMSE) were 0.90° and 0.68° respectively, and the on-line times were 29.4 and 23.5 s respectively. When the method was used with the tractor navigating at the speed of 4 km/h in the field, the MAE was 0.44°, and the RMSE was 0.87°, which could meet the requirements of tractor operation on dry land.
The measurement method based on GNSS heading differential and MEMS gyroscope has equivalent measurement performance with the link-type wheel angle sensor. This measurement method can be used to replace wheel angle sensor for the navigation of low speed agricultural machinery.
| [1] |
王辉, 王桂民, 罗锡文, 等. 基于预瞄追踪模型的农机导航路径跟踪控制方法[J]. 农业工程学报, 2019, 35(4): 11-19. doi: 10.11975/j.issn.1002-6819.2019.04.002
|
| [2] |
张智刚, 王进, 朱金光, 等. 我国农业机械自动驾驶系统研究进展[J]. 农业工程技术, 2018, 38(18): 23-27.
|
| [3] |
胡静涛, 高雷, 白晓平, 等. 农业机械自动导航技术研究进展[J]. 农业工程学报, 2015, 31(10): 1-10. doi: 10.11975/j.issn.1002-6819.2015.10.001
|
| [4] |
王朝阳. 基于陀螺仪的车辆前轮转角测量方法研究[D]. 上海: 上海工程技术大学, 2016.
|
| [5] |
缪存孝, 楚焕鑫, 孙志辉, 等. 基于双GNSS天线及单陀螺的车轮转角测量系统[J]. 农业机械学报, 2017, 48(9): 17-23. doi: 10.6041/j.issn.1000-1298.2017.09.002
|
| [6] |
王鹤, 胡静涛, 高雷, 等. 农业机械自动导航车轮转角测量误差补偿模型[J]. 农业机械学报, 2014, 45(8): 33-37. doi: 10.6041/j.issn.1000-1298.2014.08.006
|
| [7] |
YIN X, NOGUCHI N. Development and evaluation of a general-purpose electric off-road robot based on agricultural navigation[J]. Int J Agr Biol Eng, 2014, 7(5): 14-21.
|
| [8] |
HU J, LI T. Cascaded navigation control for agricultural vehicles tracking straight paths[J]. Int J Agr Biol Eng, 2014, 7(1): 36-44.
|
| [9] |
胡书鹏, 尚业华, 刘卉, 等. 拖拉机转向轮转角位移式和四连杆式间接测量方法对比试验[J]. 农业工程学报, 2017, 33(4): 76-82. doi: 10.11975/j.issn.1002-6819.2017.04.011
|
| [10] |
YIN X, DU J, NOGUCHI N, et al. Development of autonomous navigation system for rice transplanter[J]. Int J Agr Biol Eng, 2018, 11(6): 89-94.
|
| [11] |
张智刚, 罗锡文, 李俊岭. 轮式农业机械自动转向控制系统研究[J]. 农业工程学报, 2005, 21(11): 77-80. doi: 10.3321/j.issn:1002-6819.2005.11.017
|
| [12] |
NAGASAKA Y, SAITO H, TAMAKI K, et al. An autonomous rice transplanter guided by global positioning system and inertial measurement unit[J]. J Field Robot, 2009, 26(6/7): 537-548. doi: 10.1002/rob.20294
|
| [13] |
吴鹏, 李东京, 贠超. 一种惯性传感器与编码器相结合的AGV航迹推算系统[J]. 机电工程, 2018, 35(3): 310-316. doi: 10.3969/j.issn.1001-4551.2018.03.019
|
| [14] |
刘兆朋, 张智刚, 罗锡文, 等. 雷沃ZP9500高地隙喷雾机的GNSS自动导航作业系统设计[J]. 农业工程学报, 2018, 34(1): 15-21. doi: 10.11975/j.issn.1002-6819.2018.01.03
|
| [15] |
何杰, 朱金光, 罗锡文, 等. 基于电动方向盘的插秧机转向控制系统设计[J]. 农业工程学报, 2019, 35(6): 10-17. doi: 10.11975/j.issn.1002-6819.2019.06.002
|
| [16] |
连志鹏. 自动驾驶农机转向控制研究[D]. 上海: 上海工程技术大学, 2015.
|
| [17] |
BREWER D E, WHITE G W, PEAKEJ W. Vehicle gyro based steering assembly angle and angular rate sensor: 20070088477[P]. 2007-04-19.
|
| [18] |
布里维D E, 怀特G W, 派科J W. 基于转向组件角度及角速率传感器的车辆陀螺仪: 101326094 B[P]. 2008-12-17.
|
| [19] |
吴晓鹏, 赵祚喜, 张智刚, 等. 东方红拖拉机自动转向控制系统设计[J]. 农业机械学报, 2009, 40(S1): 1-5.
|
| [20] |
张立新, 陈佳俊. MSP430与TMR的智能磁敏角度传感器设计[J]. 单片机与嵌入式系统应用, 2019, 19(9): 62-65.
|
| 1. |
满忠贤，何杰，冯达文，李仁浩，邓小兵，涂团鹏，汪沛，胡炼. 基于双观测值融合卡尔曼滤波器的水田农机转向轮角估计方法与试验. 农业机械学报. 2025(02): 38-47 .
| |
| 2. |
褚丽娜. 数学偏微分控制下的精量播种机系统优化分析. 农机化研究. 2024(06): 205-209 .
| |
| 3. |
冯爽，张兆国，孙连烛，王法安，解开婷. 基于GNSS/INS的拖拉机导向轮偏转角度测量系统设计与试验. 智能化农业装备学报(中英文). 2024(02): 33-41 .
| |
| 4. |
何杰，魏正辉，胡炼，汪沛，黄培奎，丁帅奇. 基于两位置法与改进STEKF的农机航向角测量方法. 农业机械学报. 2024(12): 365-372 .
| |
| 5. |
沈海龙，刘宾，李坤. 基于GNSS-IMU与电机编码器融合的农机转角测量方法. 机械与电子. 2024(12): 7-11 .
| |
| 6. |
王艳鑫，李加琪，王显，金诚谦，印祥. 轮式拖拉机转向角测量装置的研制与试验. 中国农业大学学报. 2022(01): 203-211 .
| |
| 7. |
唐荣芳，余鹏，庞广富. MEMS微波功率传感器模塑封工艺参数优化设计. 塑料科技. 2022(09): 105-108 .
| |
| 8. |
罗锡文，廖娟，胡炼，周志艳，张智刚，臧英，汪沛，何杰. 我国智能农机的研究进展与无人农场的实践. 华南农业大学学报. 2021(06): 8-17+5 .
本站查看
|
Supported by: Beijing Renhe Information Technology Co., Ltd. 
DownLoad: