Integrated Navigation Kalman Filter Design of Spray Robot Based on GPS and Computer Vision

摘要：

In order to get an accurate position and associated multi-sensor data, the spray robot which based on GPS and computer vision and navigated with Kalamn filter has been design. Elevation angle, azimuth angle and distance of vector from farmland feature points to robot relative to farmland right-angle coordinate are observed value. The estimates position provided by GPS system and observed value are used as position and measure equation of Kalman filters state. Matlab simulation set up the navigation, imaging and Kalman filtering module and simulated results of integrated navigation. The results show that elevation angle and distance of vector are constringent when 20 beat arrive and convergence rate are fast. Azimuth angle convergence ranges are largen as GPS using. When the Kalman filter estimated value replaced, azimuth angle range are smaller and reduce the accumulation of navigation error. Simulation showed this new method is stability and rapidity.

关键词： Spray robot GPS Computer vision Kalman filter

作者: Guo Guangli Mao Xi

作者单位: School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang Henan, China

会议类型: 国际会议

会议名称: 2010 International Conference on Circuit and Signal Processing(2010年电路与信号处理国际会议 ICCSP 2010)

会议地点: 上海

会议语种:英文

页码: 103-106

在线出版日期: 2010-12-25（万方平台首次上网日期，不代表论文的发表时间）