Research Of Agricultural Vehicle Autonomous Operation Based On GNSS

Currently, vehicle positioning and navigation in autonomous operation of agriculturalvehicles is mainly based on single-system signal especially GPS. Not only does theautonomous operation of agricultural vehicles based on single-system signal have suchshortcomings as low positioning accuracy, poor signal stability, the higher price, longmaintenance cycle and high maintenance costs, but also the system suppliers are from abroadand the use of enhancement system is restricted. Thus, the promotion of the autonomousoperation of farm vehicles based on the principle of satellite positioning in precisionagriculture is hindered. Now China has established Beidou satellite navigation system and ithas provided the service. So it is necessary to study the satellite-based precision agriculturalvehicles autonomous operation technology adapted to domestic users.The research and results is as follows:(1) Analysis and derive a direct solution for the satellite positioning. Compared with theoriginal Taylor series method, its advantage lies in eliminating the model errors and higherpositioning accuracy under the conditions of the same number of solving equations.(2) Analysis the operation path optimization algorithm for agricultural vehicles,especially for the large harvester. Constraints integrated into the optimization model andsolving convenience is the biggest advantage of the algorithm. It proposed the finite elementmethod of path node matching. The method deals not only with the agricultural vehiclesoperating node, but also the arrival time of the node. So, agricultural vehicles can make abetter self-control in autonomous operation.(3) Through the research to the autonomous operation principle of the GPS-basedagricultural vehicles, the autonomous operation system of agricultural vehicles based onGNSS interoperability is designed, which enables users to maximize the improvement of itsservices under the premise of the minimum cost.(4) Complete the simulation of crop boundary walk and precise along path, which aretwo main types of autonomous operation of agricultural vehicles. The simulation results showthat, under the premise of GNSS interoperability, agricultural vehicle navigation technology can effectively improve the agricultural vehicle positioning accuracy, thereby improve workefficiency and reduce loss.