Research Of Navigation System For Orchard Mechanical Based On GPS And Inertial Navigation

The goal of this study is to develop an automatic navigation control system based onGPS and INS for the orchard mechanical and to achieve the automation of orchardmechanical operations. The single navigation system cannot meet the needs of positioningaccuracy for modern agricultural machinery navigation, But Integrated navigationpositioning system with high precision and low cost.in many integrated navigation system,thisstudy chose the combination of GPS and INS navigation system,and develop automaticnavigation system with the navigation sensors of GPS and gyroscope.The main researchfollows:(1) According to the need to design the peripheral communication circuit of GPS OEMboard,and sets the output statement type and format of data.Did single point positioningmeasurement experiment use debugged GPS-OEM board in the open air, processing themeasurement data by Kalman filter,and reduce the average position error from1.165m to0.516m.(2) Planing the driving path that includeing straight in tree row and turn walk path at theend of row based on the actual work situation of orchard mechanical. In order to reduce theamount of calculation of algorithm take the place of turn walk path with straight line path.Related software programs of navigation system was designed on VC++6.0platform. Themain program including: the data receiver program of GPS, algorithm procedures of Kalmanfiltering, Steering control program, Angle measurement procedures program of front wheelAngle, etc.(3) Choose Speed position combination mode that is optimum, simple algorithem, easyto implementation and better composite effect after analyzed several commonly used kindscombination of GPS and inertial navigation system.(4) A converted Fukuda-Oubao tractor was used as the research platform, sensor andcircuits that used in the system was installed, including GPS OEM board and antenna,gyroscope, anchor displacement sensor, speed sensor, etc. According to the functionalrequirements of control system, design the structure of hardware combination, and connection circuit. Design the circuit principle diagram, and made the PCB board.(5) Test the units functiona of system, mainly including: receiving data performance ofGPS-OEM board, the performance of the steering control mechanism and CANcommunication. through the test, the overall stability of the system is reliable.