Study On Application Of Integrated Navigation System Based On Vision And Inertia In Agricultural Machinery

Automatic navigation of agricultural vehicles is an important part of precision agriculture and modern intelligent agriculture.At present,automatic navigation technology of agricultural machinery has been widely used in agricultural production links such as sowing,fertilization and harvest.In modern navigation system,integrated navigation is widely used because of its relatively high positioning accuracy and strong robustness.This paper combines with digital image processing technology and inertial navigation technology,based on embedded hardware platform and according to the characteristics of agricultural machinery operation,an agricultural machinery integrated navigation system with high precision,strong robustness and low cost is developed to be applied to the transplanting of Ophiopogon japonicus.The main research contents are as follows:(1)According to the characteristics of various navigation sensors and the special needs of agricultural navigation,based on the existing experimental conditions,the automatic navigation scheme based on vision and inertia is determined,and the Ophiopogon transplanter is used as the research carrier.At the same time,the hardware platform of the navigation system is determined according to the selected scheme,and the overall research route is formulated.(2)The navigation coordinate system is established,and the conversion relationship between the coordinate systems is established according to the principle of vision and inertial navigation.At the same time,according to the agronomic characteristics of Ophiopogon japonicus,the image processing algorithm is designed to extract the positioning points and fit the navigation path,and the calculation model of the relative position and attitude of the vehicle by vision and inertial navigation is established.(3)Design of agricultural machinery navigation data processing algorithm.The Kalman filter algorithm is used to optimally estimate the output data of vision and inertial navigation to obtain the position and attitude information of the carrier.At the same time,the mechanical arrangement equation is established to solve the position and attitude data of inertial navigation alone.When the image algorithm fails,the inertial navigation system can still continue to operate.According to the principle of navigation control model and navigation algorithm,relevant algorithms are designed to judge the legitimacy and effectiveness of navigation data.(4)Build the software and hardware development environment of the navigation system,including the transplantation of Open CV library,the recompilation and transplantation of Wiring Pi＿64,and make the human-computer interaction interface according to the relevant functions of the system.Finally,complete the migration of the navigation system algorithm,and conduct simulation experiments to verify that the accuracy and real-time performance of the navigation system algorithm can meet the actual navigation requirements of agricultural machinery.