Research On Automatic Navigation Control Method Of Agricultural Machinery Based On Data Fusion

With the progress of society,the speed of urbanization in my country has accelerated,and the number of agricultural workers and effective arable land has gradually decreased,affecting the process of agricultural development.Therefore,the research of agricultural machinery automatic navigation technology has great practical significance.The automatic navigation technology is an important link to achieve the goals of "precision agriculture" and "smart agriculture",and agricultural machinery automation is the general trend of the times.This paper used data fusion technology to study the automatic navigation and control methods of agricultural machinery.The main research contents are as follows:(1)Firstly,the research status of agricultural machinery automatic navigation control methods was analyzed by consulted relevant domestic and foreign references.Secondly,the differential global positioning navigation system was studied,and the conversion relationship between each positioning coordinate system was established.(2)The lateral error control of the agricultural machinery automatic navigation system was studied.Based on the two-wheel model and kinematics model of agricultural machinery,the lateral error control methods was analyzed.In the lateral error control,the pure track algorithm was used to study the track of the agricultural machinery on the preset path.In order to improve the accuracy of path track,the pure track algorithm was improved through fuzzy control,the correspond membership function was set,the fuzzy control rules between the forward-looking distance,the lateral error and the heading error were constructed,and the forward-looking distance in the pure track algorithm was determined,PID algorithm was used to control the front wheel angle.(3)The problem of overall path plan of agricultural machinery in the field was studied,and the change path of agricultural machinery are designed.In the field change path,in order to ensure the effective cultivation area of the farmland and the stability of agricultural machinery after the change,a transition curve to ensure the smoothness between the straight work path and the change path was added,which was based on the fishtail change trajectory,so a non-tangent line round fishtail line-changing path was designed.(4)In order to test the effectiveness of the path track of the agricultural machinery automatic navigation system,the actual vehicle experiment was designed,and the experimental platform was constructed to control the vehicle to perform the preset path track experiment.The experimental results showed that the agricultural machinery automatic navigation system has effectively complete the tracking of the preset path.