Research On Key Technology Of Integrated Navigation Of Agricultural Machinery

Agricultural machinery automatic navigation technology in the modern sense has been developed under the technology of the precision agriculture,the main works of which are to make the agricultural vehicle work along the optimized path and minimize duplication and missing of the planting and reduce labor intensity,even pilotless.As a key technology of the precision agriculture,agricultural automatic navigation technology is widely used in agricultural production,such as pesticide spraying,harvesting and transplanting.Based on the characteristics of agricultural vehicle working in the field,a combination navigation system of agricultural machinery with low cost and high precision is studied in this paper.The main contents are researched as follows:(1)In view of the characteristics of the GNSS(global navigation satellite system),machine vision,inertial navigation unit,laser navigation and other kinds of sensors,combined with the existing experimental conditions,the integrated navigation scheme is determined based on the embedded hardware platform of which visual and inertial fusion data for navigation control parameters.(2)In this paper,the position description equation of visual navigation and inertial navigation is established respectively,taking the navigation line as reference coordinate system,and the kinematics analysis of the carrier is carried out,the calibration of vehicles vision and inertial navigation module is completed.(3)The design of navigation control algorithm.By using the extended Kalman filtering algorithm,the data of multi-sensor combined navigation is integrated,and the position,speed and course information of the vehicle are obtained.An appropriate mathematical model is established to judge the validity of navigation data and optimize the processing of navigation data.The simulation results show that the accuracy and real-time performance of the combined navigation algorithm can satisfy the practical application.(4)The implementation of the integrated navigation system.In the experiment,the embedded software development environment needed for the integrated navigation system is set up,namely,Python2.7 and the installation of related libraries and the transplantation of the OpenCV image library;According to the related functions,the mobile control terminal(based on iOS system)and the data communication protocol of each module are written.