RESEARCH ON POSITIONING METHOD IN AUTOMATED NAVIGATION OF OFF-ROAD VEHICLE
Automatic navigation technique for agricultural vehicle is an effective way to improve position accuracy of the vehicle and to realize large-scale production of cropland. This paper represents synthetic performance between two positioning methods in Automatic navigation, the one is GPS positioning method and the other is the method based on a fusion of two data source (RTD DGPS and digital compass) by Kalman filter. Experimental platform is an electric motor vehicle. RTK DGPS and RTD DGPS are equipped on the vehicle to collect position data, and the data of RTK DGPS is used as standard; digital compass is also mounted on the vehicle to acquire its heading angle. Synthesized weighting values are 0.006 and 0.002 for the GPS positioning method and the fusion method by Kalman filter respectively. Result verifies that the fusion method by Kalman filter has a higher accuracy and a better stability than GPS positioning method.
Zhang Man Zhou Jianjun Ji Ying Chen Yan Liu Chunhong Liu Gang
Key Laboratory of Modern Precision Agriculture System Integration Research,China Agricultural University,Beijing 100083,China
国际会议
北京
英文
1-8
2009-10-14（万方平台首次上网日期，不代表论文的发表时间）