Application Research Of Machine Vision In Navigation And Positioning Of Deep Loosening Machine

Most agricultural locomotives now install GPS navigation and positioning systems,GPS positioning requires driving along predetermined routes,the working efficiency is related to the artificial setting path,the degree of intelligence is not high,the anti-interference ability is poor,and it is easy to cause repeated work problems.The visual navigation and positioning system collects a large amount of information,and the processing speed is fast,which can compensate for the shortcomings of the GPS navigation and positioning system better.Therefore,this paper designs a visual assistant navigation and positioning system based on GPS positioning,which aims to realize accurate positioning of deep loosening machine in the field operation.The specific research content is as follows:During the machine vision localization,the color image collected by the camera is preprocessed and the feature points of the preprocessed image are extracted by SIFT algorithm,and in order to improve the real-time performance of image matching,KD-Tree data structure is used to realize feature point search and uses RANSAC algorithm to optimize matching of feature points to remove mismatched points.The calibration camera determines its internal parameters,determines the coordinates of the feature points of the target object in the image and the corresponding feature points on the surface of the target object in the three-dimensional space through coordinate transformation,and forms feature point pairs and use the improved POSIT iterative algorithm to estimate the agricultural locomotive.The pose parameters,verifying the rationality of the improved POSIT algorithm through experiments.At the same time,in order to obtain more accurate pose parameters of deep loosening machine,a fusion algorithm of machine vision and GPS data is proposed to establish a multi-sensor information fusion model.Information fusion technology is adopted to fuse the parking position parameter information of agricultural machinery acquired by the visual positioning algorithm with the position information of GPS navigation and positioning to obtain the new position coordinate information of agricultural machinery and vehicle.Finally,through data fusion experiment,it is verified that the fusion algorithm can provide more accurate navigation and positioning information.A machine vision /GPS integrated navigation and positioning system was designed,and the experimental platform of the system was built.The field experiments of deep loosening machine were carried out from two aspects of different operation trajectories in the same area and the same operation trajectories in different areas verify that the proposed machine vision and GPS data fusion algorithm has high accuracy and robustness.