Objective Most fusion positioning devices rely on BDS-RTK, which has high power consumption. In areas with poor network signals, differential links cannot be obtained, and only standard point positioning (SPP) can be used. SPP system has problems such as large positioning errors and weak anti-interference ability. This study is committed to addressing these issues.
Method This study proposed a low-power fusion positioning device that used inertial navigation system (INS) and BDS-SPP sensors based on the Kalman filter fusion method. The device was tested using BDS-RTK as a benchmark to evaluate the static and dynamic errors of the BDS-SPP low-power module, the attitude and heading reference system (AHRS) zero bias and noise. Additionally, filtering fusion positioning experiments were conducted to test the AHRS breakpoint continuation in the case of BDS interference with a single antenna.
Result The static error of BDS positioning was 0.4726 m, the average standard deviation of the dynamic BDS-SPP/INS fusion positioning system was less than 1.9137 m, and the average standard deviation reduced by 0.1652 m compared to before fusion. The breakpoint continuation experiment showed that the average standard deviation of the offset distance of the fusion positioning system was 3.6365 m, which decreased by 2.5900 m compared to before fusion. The BDS-SPP/INS fusion positioning system reduced the power consumption by 33.3 W compared to the BDS-RTK positioning system, and increased the output frequency by three times.
Conclusion The fusion positioning device in this article improves the anti-interference capability of BDS-SPP and reduces positioning errors. It can provide positioning for agricultural robots in the absence of an RTK link, and provide a technical basis for agricultural robot navigation research.
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