CN106403988A - Automatic surveying and mapping system and surveying and mapping method for vehicle-mounted cultivated land topography - Google Patents
Automatic surveying and mapping system and surveying and mapping method for vehicle-mounted cultivated land topography Download PDFInfo
- Publication number
- CN106403988A CN106403988A CN201611086202.8A CN201611086202A CN106403988A CN 106403988 A CN106403988 A CN 106403988A CN 201611086202 A CN201611086202 A CN 201611086202A CN 106403988 A CN106403988 A CN 106403988A
- Authority
- CN
- China
- Prior art keywords
- arable land
- vehicle
- cultivated land
- management platform
- terrain information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses an automatic surveying and mapping system and an automatic surveying and mapping method for vehicle-mounted cultivated land topography. The automatic surveying and mapping system for the vehicle-mounted cultivated land topography comprises a vehicle-mounted cultivated land topographic information automatic measuring device and a cultivated land topographic information management platform, wherein the vehicle-mounted cultivated land topographic information automatic measuring device is composed of a protective cover, a single-chip microcomputer circuit board, an MEMS (Micro-electromechanical Systems) inertial navigation module, a satellite positioning module, a wireless data transmission module, a liquid crystal display, a control button and a power supply. The automatic surveying and mapping method for the vehicle-mounted cultivated land topography comprises the following steps: the topographic information automatic measuring device, which is mounted on an agricultural machine, automatically acquires cultivated land topographic data in real time when the agricultural machine works, and sends the data to the cultivated land topographic information management platform through the wireless data transmission module; the platform processes and displays the cultivated land topographic information in real time. According to the automatic surveying and mapping system and the automatic surveying and mapping method for the vehicle-mounted cultivated land topography, the problems that the cultivated land topography is rapidly and efficiently measured in real time and automatically drawn are well solved.
Description
Technical field
The present invention relates to a kind of agriculture plantation mapping system and mapping method are and in particular to a kind of vehicle-mounted arable land landform
Self-operated measuring unit and mapping method.
Background technology
Arable land is basis for the survival of mankind and ensures, is the valuable source of regional development.Arable land landform landform is not only
The spatial distribution in impact arable land, has an effect on the quality in arable land, is vital presence in farmland information.But arable land ground landform
Also there is a difficult problem for many in mapping process.
The metering system of landform of ploughing at this stage is mainly to be measured using radar or laser, but arable land ground at this stage
Shape mapping has that equipment is heavy, it is complicated to install, mapping efficiency is low, measurement cost is too high.
Content of the invention：
For solving the problems, such as that the measurement of agriculture plantation terrain information is complicated, efficiency is low, measurement cost is too high, realize arable land landform
Rapidly and efficiently survey and draw in real time, immediately following the developing steps of China's precision agriculture, the invention provides a kind of vehicle-mounted agriculture plantation ground
Shape auto-mapping system and mapping method.
The vehicle-mounted arable land landform auto-mapping system of the present invention, including vehicle-mounted arable land terrain information self-operated measuring unit and plough
Ground terrain information management platform.Arable land terrain information self-operated measuring unit is by protective cover, single chip microcomputer circuit board, MEMS inertial navigation
Module, satellite positioning module, wireless data transfer module, liquid crystal display, control button and power supply composition.
Technical solution of the present invention is as follows：Vehicle-mounted arable land terrain information self-operated measuring unit is real for core with single chip microcomputer circuit board
Shi Zidong monitors, and single chip microcomputer circuit board is set up by universal serial bus with MEMS inertial navigation module and is connected, with satellite positioning module
It is connected with setting up by serial-port communication, set up by universal serial bus with memory card and be connected, pass through with wireless data transfer module
Serial-port communication is set up and is connected；Power supply provides electric energy for single chip microcomputer circuit board.
Arable land terrain information self-operated measuring unit is arranged on tractor or agricultural machinery, and its plate outer side is identified with mutually
Vertical is with arrow instruction line and parallel with the horizontal reference plane of tractor or agricultural machinery；Its internal core measurement single-chip microcomputer
Circuit board is parallel with base plate.
MEMS inertial navigation module in single chip microcomputer circuit board is parallel with single chip microcomputer circuit board, its X-axis positive with the horizontal arrow of external standard
Head instruction line direction is consistent, and Y-axis is positive consistent with external standard longitudinal direction arrow instruction line direction；Longitudinal instruction line of plate outer side with drag
Machine drawing or agricultural machinery vehicle body are parallel longitudinal, and its longitudinal arrow is towards front.
Arable land landform auto-mapping method is as follows：Described MEMS inertial navigation module records in the agricultural machinery course of work drags
The acceleration of machine drawing and tractor or agricultural machinery and magnitude of angular velocity；Satellite positioning module real-time detection is to tractor and tractor
Or the geographical coordinate of agricultural machinery, time, speed, altitude information；Described vehicle-mounted arable land landform core measurement apparatus receive
Geographical coordinate that acceleration, angular velocity data and the satellite positioning module that MEMS inertial navigation module records records, time, speed
And altitude information, according to unit unit vibration amplitude, unit acceleration and angular speed are compensated for, then according to Mathematical Modeling
Acceleration after compensating and angular velocity data and geographical coordinate, time, speed and altitude information are packaged into packet transmission
To memory card and wireless data transfer module；Described memory card compensate after acceleration and angular velocity data and tractor and
The geographical coordinate of tractor or agricultural machinery, time, speed and altitude information are stored in real time；Wireless Data Transmission mould simultaneously
Above-mentioned data real-time radio is transferred to arable land terrain information management platform by block.Described arable land terrain information management platform receives
The data of display wireless data transfer module real-time Transmission, and acceleration and angular velocity data are merged by it by cross product method computing
After be output as quaternary number, be translated into Eulerian angles further according to formula (1), then using formula (2) calculate tractor or its
Its type tractor or agricultural machinery bottom surface and the angle of horizontal plane, obtain the water between 2 points followed by geographic coordinate data
Flat distance, then the depth displacement between 2 points is obtained by formula (3), obtain the relative tertiary location of any point by that analogy,
Finally by various point locations in three-dimensional system of coordinate faithful representation be depicted as three-dimensional land map.
α=sin-1(-2*q1*q3+2*q0*q2)
β=tan-1(2*q2*q3+2*q0*q1)/(-2*q1*q1-2*q2*q2+1)
Formula (1)
Wherein q0, q1, q2, q3 are quaternary number α, and β is respectively system around X-axis, the angle of Y-axis rotation, and γ is system terrestrial and water
The angle of plane, i.e. the gradient.
It is wherein depth displacement, be the flat distance of WAWQ, be the gradient.
The present invention has the beneficial effect that：Realize rapidly and efficiently measuring of arable land terrain information and accurately surveying in real time of arable land landform
Paint, mapping precision improves, measurement cost substantially reduces, immediately following the developing steps of China's precision agriculture, improve arable land topographic survey
Efficiency.
Brief description
Fig. 1 is the basic composition schematic diagram of the arable land landform core measuring apparatus of the present invention；
Fig. 2 is the real-time mapping process figure of the present invention；
Fig. 3 is topographic data processing process and the terrain rendering figure of the present invention；
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It is to be understood that described herein be embodied as example only in order to explain the present invention,
It is not intended to limit the present invention.
Vehicle-mounted arable land landform auto-mapping system includes vehicle-mounted arable land landform self-operated measuring unit and arable land terrain information pipe
Platform；Wherein, arable land landform self-operated measuring unit by single chip microcomputer circuit board, MEMS inertial navigation module, satellite positioning module,
Memory card, wireless data transfer module and electric power system composition；Single chip microcomputer circuit board of the present invention is MCS51 series monolithic, this
Exemplary application STC12C5A60S2 single-chip microcomputer.
MEMS inertial navigation module used by the present invention is that MEMS is digital or analog；This exemplary application MPU6050 six axle
Sensor, it passes through I/O mouth digital interface and single-chip microcomputer docking, and I^2C or SPI communication agreement are communicated with single-chip microcomputer, monolithic
The machine-readable data flow taking the output of MPU6050 six axle sensor, data flow includes acceleration and the angular velocity data of unit.
The geographical location information of apparatus of the present invention may be from GPS, BDS, GLONASS and GALILEO satellite positioning navigation
Module；This exemplary application Beidou navigation module, it passes through TTL serial ports and single-chip microcomputer docking, single-chip microcomputer dynamic access Beidou navigation
The output data frame of module, and therefrom extract geographical coordinate residing for unit, speed, height above sea level and temporal information, and by itself and machine
The acceleration of group is packaged as a packet together with angular speed, transmits to memory card or wireless transport module；Apparatus of the present invention
Memory card can be SD card and TF card；This exemplary application SD card storage module, its be used for storing the geographical coordinate of unit, speed,
Height above sea level, temporal information, acceleration and angular velocity data；The wireless transport module of apparatus of the present invention can be GPRS wireless transport module
With WIFI wireless transport module etc.；This exemplary application GPRS wireless transport module, it is used for vehicle-mounted arable land landform automatic measurement
Device is sent out to acceleration, angular velocity data geographical coordinate, speed, height above sea level and the temporal information of terrain information management platform of ploughing
Send；The arable land terrain information management platform of this example is used for receiving the acceleration of display unit and angular velocity data and geography is sat
Mark, speed, the drafting of height above sea level, temporal information and three-dimensional arable land topographic map.
Its method for drafting is as follows, is transformed into after being merged the acceleration of acquisition and angular velocity data by cross product method computing
Quaternary number, then Eulerian angles are translated into by above-mentioned formula (1), then recycle above-mentioned formula (2) to obtain detection means bottom
Face and the angle angle of horizontal plane, then pass through plug-in and longitude and latitude data are converted to rectangular co-ordinate data, according to plane
The distance between 2 points formula obtain horizontal range distance between 2 points, and known 2 points with horizontal plane angle and water
Can be utilized geometric knowledge to obtain the depth displacement between 2 points in the case of flat distance, the height between any two points can be obtained by that analogy
The relative tertiary location of path difference, therefore each point can obtain, finally just can matlab plug-in by various point locations in three-dimensional system of coordinate
In show and plot three-dimensional land map；Additionally, this platform can also be by the three-dimensional coordinate after the wireless data obtaining and clearing
Data saves as EXCEL form, is easy to check utilization in the future.
Described MPU6050 six axle sensor records acceleration of motion and the angular speed number of fuselage during agricultural machinery working in real time
According to；Single-chip microcomputer is smoothed to fuselage acceleration and angular speed according to moving average filter method；Described Beidou navigation mould
Block real-time detection is to the geographical coordinate of tractor or agricultural machinery, time, speed, elevation information；Described SD card storage module
For the geographical coordinate of the acceleration after real-time storage smoothing processing and angular velocity data and tractor or agricultural machinery, when
Between, speed and altitude information；Above-mentioned data real-time radio is transferred to arable land terrain information pipe by GPRS wireless transport module simultaneously
Platform (2).Described arable land terrain information management platform (2) receives the number of display GPRS wireless transport module real-time Transmission
According to concrete method of processing display following steps：
Step S1:Cross product method computing is passed through by after acceleration and angular velocity data fusion in arable land terrain information management platform (2)
It is output as quaternary number；
Step S2：Quaternary number is converted into Eulerian angles by above-mentioned formula (1) by arable land terrain information management platform (2)；
Step S3：Arable land terrain information management platform (2) calculates tractor or agricultural machinery level ginseng with reference to above-mentioned formula (2)
Examine the angle of plane and earth coordinates horizontal plane；
Step S4：Arable land terrain information management platform (2) obtains the horizontal range between 2 points using geographic coordinate data, according to
Above-mentioned formula (3) obtains the depth displacement between 2 points, can get the relative tertiary location of any point, Ran Houtong by that analogy
Cross plug-in by various point locations faithful representation plot three-dimensional land map in three-dimensional system of coordinate.
Claims (3)
1. a kind of vehicle-mounted arable land landform auto-mapping system, including vehicle-mounted arable land terrain information self-operated measuring unit (1) and arable land
Terrain information management platform (2), described vehicle-mounted arable land terrain information self-operated measuring unit (1) with single chip microcomputer circuit board (1-1) be
Core real-time automatic measuring, including memory card (1-4), wireless data transfer module (1-5), power supply (1-6), is characterized in that：Single
Piece mounted circuit board (1-1) is set up by universal serial bus with MEMS inertial navigation module (1-2) and is connected, with satellite positioning module (1-
3) set up by serial-port communication and connect, set up by universal serial bus with memory card (1-4) and be connected, with wireless data transfer module
(1-5) set up by serial-port communication and connect.
2. according to claim 1 vehicle-mounted arable land landform auto-mapping system it is characterised in that：Described arable land landform letter
Breath self-operated measuring unit (1) is arranged on tractor or agricultural machinery, and its plate outer side is identified with orthogonal band arrow and refers to
Timberline is simultaneously parallel with the horizontal reference plane of tractor or agricultural machinery；Its internal core measurement single chip microcomputer circuit board (1-1) with
Base plate is parallel；MEMS inertial navigation module (1-2) on described single chip microcomputer circuit board (1-1) is put down with single chip microcomputer circuit board (1-1)
OK, its X-axis is positive consistent with external standard lateral arrows instruction line direction, and Y-axis is positive consistent with external standard longitudinal direction arrow instruction line direction；
Longitudinal instruction line of plate outer side is parallel longitudinal with tractor or agricultural machinery vehicle body, and its longitudinal arrow is towards front.
3. a kind of vehicle-mounted arable land landform auto-mapping method, is surveyed automatically based on the vehicle-mounted arable land of the one kind described in claim 1 landform
Paint system it is characterised in that described MEMS inertial navigation module (1-2) records the fortune of fuselage during agricultural machinery working in real time
Dynamic acceleration and angular velocity data；Single-chip microcomputer carries out smooth place according to moving average filter method to fuselage acceleration and angular speed
Reason；Described satellite positioning module (1-3) real-time detection is to the geographical coordinate of tractor or agricultural machinery, time, speed, elevation
Information；Described memory card (1-4) be used for real-time storage smoothing processing after acceleration and angular velocity data and tractor or
The geographical coordinate of agricultural machinery, time, speed and altitude information；Wireless data transfer module (1-5) is real by above-mentioned data simultaneously
When be wirelessly transmitted to arable land terrain information management platform (2).It is wireless that described arable land terrain information management platform (2) receives display
The data of data transmission module (1-5) real-time Transmission, concrete method of processing display following steps：
Step S1:Cross product method computing is passed through by after acceleration and angular velocity data fusion in arable land terrain information management platform (2)
It is output as quaternary number；
Step S2：Quaternary number is converted into Eulerian angles using attitude algorithm by arable land terrain information management platform (2)；
Step S3：Arable land terrain information management platform (2) calculates tractor or agricultural machinery horizontal reference with reference to trigonometric function
Plane and the angle of earth coordinates horizontal plane；
Step S4：Arable land terrain information management platform (2) obtains the horizontal range between 2 points using geographic coordinate data, utilizes
The angle of horizontal range and tractor or agricultural machinery horizontal reference plane and earth coordinates horizontal plane obtains between 2 points
Depth displacement, obtains the relative tertiary location of any point by that analogy, and by various point locations, in three-dimensional system of coordinate, faithful representation is simultaneously
Plot three-dimensional land map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611086202.8A CN106403988B (en) | 2016-12-01 | 2016-12-01 | Vehicle-mounted automatic plowing land topography mapping system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611086202.8A CN106403988B (en) | 2016-12-01 | 2016-12-01 | Vehicle-mounted automatic plowing land topography mapping system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106403988A true CN106403988A (en) | 2017-02-15 |
| CN106403988B CN106403988B (en) | 2023-06-13 |
Family
ID=58084705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611086202.8A Active CN106403988B (en) | 2016-12-01 | 2016-12-01 | Vehicle-mounted automatic plowing land topography mapping system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106403988B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109308562A (en) * | 2017-07-28 | 2019-02-05 | 井关农机株式会社 | Farmland management system |
| CN109857040A (en) * | 2019-03-25 | 2019-06-07 | 哈尔滨工程大学 | A kind of space plotting unit and method |
| CN113157844A (en) * | 2021-04-26 | 2021-07-23 | 上海德衡数据科技有限公司 | Agricultural Internet of things method, system and device based on Beidou positioning module |
| WO2022082368A1 (en) * | 2020-10-19 | 2022-04-28 | 南京朗禾智能控制研究院有限公司 | Vehicle-mounted device for accurately measuring area in real time |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1550758A (en) * | 2003-05-09 | 2004-12-01 | Direct modification of dgps information with inertial measurement data | |
| CN1550757A (en) * | 2003-05-09 | 2004-12-01 | Inertial augmentation for GPS navigation on ground vehicles | |
| CN101539417A (en) * | 2009-04-23 | 2009-09-23 | 中国农业大学 | On-board 3D terrain automatic measuring system and method |
| US20100141518A1 (en) * | 2008-12-08 | 2010-06-10 | Hersey John A | Autonomous cooperative surveying |
| CN102607499A (en) * | 2012-03-12 | 2012-07-25 | 华南农业大学 | Vehicle-mounted farm three-dimensional topographical surveying device |
| KR101193115B1 (en) * | 2011-10-07 | 2012-10-19 | 한국항공우주산업 주식회사 | Three dimention digital map system |
| GB2508617A (en) * | 2012-12-05 | 2014-06-11 | Vert Systems Ltd | Terrain-topography motion capture system, apparatus and method |
| CN104181565A (en) * | 2014-08-19 | 2014-12-03 | 四川大学 | Movement trail recording and redrawing system based on BeiDou navigation satellite system |
| CN104793552A (en) * | 2015-03-25 | 2015-07-22 | 江苏大学 | Intelligent deep-loosening soil preparation operation quality monitoring system |
| CN104977597A (en) * | 2015-07-16 | 2015-10-14 | 上海华测导航技术股份有限公司 | Inertial navigation-based GPS measurement system |
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| CN206369548U (en) * | 2016-12-01 | 2017-08-01 | 东北农业大学 | A kind of vehicle-mounted arable land landform auto-mapping system |
-
2016
- 2016-12-01 CN CN201611086202.8A patent/CN106403988B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1550758A (en) * | 2003-05-09 | 2004-12-01 | Direct modification of dgps information with inertial measurement data | |
| CN1550757A (en) * | 2003-05-09 | 2004-12-01 | Inertial augmentation for GPS navigation on ground vehicles | |
| US20100141518A1 (en) * | 2008-12-08 | 2010-06-10 | Hersey John A | Autonomous cooperative surveying |
| CN101539417A (en) * | 2009-04-23 | 2009-09-23 | 中国农业大学 | On-board 3D terrain automatic measuring system and method |
| KR101193115B1 (en) * | 2011-10-07 | 2012-10-19 | 한국항공우주산업 주식회사 | Three dimention digital map system |
| CN102607499A (en) * | 2012-03-12 | 2012-07-25 | 华南农业大学 | Vehicle-mounted farm three-dimensional topographical surveying device |
| GB2508617A (en) * | 2012-12-05 | 2014-06-11 | Vert Systems Ltd | Terrain-topography motion capture system, apparatus and method |
| CN104181565A (en) * | 2014-08-19 | 2014-12-03 | 四川大学 | Movement trail recording and redrawing system based on BeiDou navigation satellite system |
| CN104793552A (en) * | 2015-03-25 | 2015-07-22 | 江苏大学 | Intelligent deep-loosening soil preparation operation quality monitoring system |
| CN104977597A (en) * | 2015-07-16 | 2015-10-14 | 上海华测导航技术股份有限公司 | Inertial navigation-based GPS measurement system |
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| CN206369548U (en) * | 2016-12-01 | 2017-08-01 | 东北农业大学 | A kind of vehicle-mounted arable land landform auto-mapping system |
Non-Patent Citations (1)
| Title |
|---|
| 董康: ""车载激光雷达农田三维地形测量方法研究与***开发"", 《中国优秀硕士学位论文全文数据库基础科学辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109308562A (en) * | 2017-07-28 | 2019-02-05 | 井关农机株式会社 | Farmland management system |
| CN109308562B (en) * | 2017-07-28 | 2024-01-05 | 井关农机株式会社 | Farmland management system |
| CN109857040A (en) * | 2019-03-25 | 2019-06-07 | 哈尔滨工程大学 | A kind of space plotting unit and method |
| WO2022082368A1 (en) * | 2020-10-19 | 2022-04-28 | 南京朗禾智能控制研究院有限公司 | Vehicle-mounted device for accurately measuring area in real time |
| CN113157844A (en) * | 2021-04-26 | 2021-07-23 | 上海德衡数据科技有限公司 | Agricultural Internet of things method, system and device based on Beidou positioning module |
| CN113157844B (en) * | 2021-04-26 | 2022-09-20 | 上海德衡数据科技有限公司 | Agricultural Internet of things method, system and device based on Beidou positioning module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106403988B (en) | 2023-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101241011B (en) | High precision positioning and posture-fixing device on laser radar platform and method | |
| CN106403988A (en) | Automatic surveying and mapping system and surveying and mapping method for vehicle-mounted cultivated land topography | |
| CN107315345A (en) | Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model | |
| CN103885076B (en) | The multiple sensor information amalgamation method of agricultural machines navigation based on GPS | |
| CN109911188A (en) | The bridge machinery UAV system of non-satellite navigator fix environment | |
| CN101109959A (en) | Attitude determining system of mini system suitable for any motion | |
| CN103439727B (en) | A kind of measuring method of ground coordinate | |
| CN102928846A (en) | Extreme-low-altitude laser radar digital terrain mapping system and extreme-low-altitude laser radar digital terrain mapping method of small-sized unmanned helicopter | |
| CN104713555A (en) | Autonomous vehicle navigation method for assisting orientation by applying omnimax neutral point | |
| CN106950583A (en) | One kind is based on the united forest highway measuring systems of GPS RTK and measuring method | |
| CN102621570B (en) | Automobile dynamic parameter measuring method based on double global positioning and inertia measurement | |
| CN106292698A (en) | Accurate operation method and system for plant protection unmanned aerial vehicle | |
| CN102540200A (en) | Global navigation satellite system receiver and position measurement method | |
| CN106627753A (en) | Agricultural machinery automatic driving tillage control system guided by Beidou navigation system and control method | |
| CN102967311A (en) | Navigational positioning method based on sky polarization distribution model matching | |
| CN110389369A (en) | Canopy point cloud acquisition methods based on RTK-GPS and mobile two dimensional laser scanning | |
| CN104216405B (en) | The air navigation aid and equipment of field robot | |
| CN112954585B (en) | UWB-based agricultural machine field positioning system and method | |
| CN107607964A (en) | A kind of laser ranging localization method applied to RTK receivers | |
| CN106093992A (en) | A kind of sub-meter grade combined positioning and navigating system based on CORS and air navigation aid | |
| CN104833343B (en) | Complicated landform border based on multi-rotor aerocraft and Class area estimation System and method for | |
| CN107255446B (en) | Dwarfing close-planting fruit tree canopy three-dimensional map construction system and method | |
| CN107703527B (en) | Beidou three-frequency single-epoch wide lane/ultra-wide lane based combined positioning method | |
| CN109489547A (en) | A kind of monitoring method of slag body heap quantity of slag dynamic change | |
| CN105973213B (en) | A kind of laser plumbing method and system for taking correction for deflection of vertical into account |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |