CN107479068A - A kind of track combine single-point direction-finding method - Google Patents

A kind of track combine single-point direction-finding method Download PDF

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Publication number
CN107479068A
CN107479068A CN201710786428.7A CN201710786428A CN107479068A CN 107479068 A CN107479068 A CN 107479068A CN 201710786428 A CN201710786428 A CN 201710786428A CN 107479068 A CN107479068 A CN 107479068A
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China
Prior art keywords
point
united reaper
course angle
gps
finding method
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CN201710786428.7A
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Chinese (zh)
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CN107479068B (en
Inventor
田光兆
顾宝兴
王海青
周俊
安秋
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Nanjing Agricultural University
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Nanjing Agricultural University
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    • 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
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The present invention relates to a kind of track combine single-point direction-finding method, comprise the following steps：1) gps antenna is fixed on to the geometric center of united reaper；2) the current time position P of the united reaper geometric center is recorded by the GPS0The position P at adjacent 3 moment before1、P2、P3Plane coordinates；3) according to P3~P0Variation tendency, using cubic spline interpolation in sampled point P3~P0Between insertion extension point Qn~Q0；4) next extension point Q is predictedePosition；5) weighted calculation, course angle of the united reaper at current time is obtained.The present invention is reasonable in design, is easy to apply, and can provide state parameter for navigation by the course angle of single antenna Low-cost GPS accurate measurement combining, can fully meet the needs of united reaper navigation popularization and application.

Description

A kind of track combine single-point direction-finding method
Technical field
It is especially a kind of suitable for the autonomous of track combine the present invention relates to a kind of agricultural machines navigation technology Airmanship, specifically a kind of track combine single-point direction-finding method.
Background technology
When track combine carries out independent navigation operation, the course angle of vehicle be important navigational parameter, it is necessary to Real―time precision measurment.The GPS of generally use high accuracy gyroscope instrument or double antenna realizes the measurement of course angle at present.Using gyro , it is necessary to higher installation accuracy when instrument measures, while gyroscope causes measurement inaccurate also easily by electromagnetic interference.It is and double Antenna GPS is expensive, is also not suitable for popularizing in an all-round way in farm machinery navigation field.Therefore, it is necessary to which designing one kind measures accurate, cost Cheap technology, meets the needs of united reaper navigation popularization and application.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, there is provided a kind of track combine single-point direction finding side Method, state parameter can be provided for navigation by the course angle of single antenna Low-cost GPS accurate measurement combining, can be abundant Meets the needs of united reaper navigation popularization and application.
The technical scheme is that：
A kind of track combine single-point direction-finding method, comprises the following steps：
1) gps antenna is fixed on to the geometric center of united reaper；
2) the current time position P of the united reaper geometric center is recorded by the GPS0Adjacent 3 before The position P at moment1、P2、P3Plane coordinates；
3) according to P3~P0Variation tendency, using cubic spline interpolation in sampled point P3~P0Between insertion extension point Qn ~Q0；
4) next extension point Q is predictedePosition, method is：
A. sequentially in time, 4 sampled points are inserted into extension point, form the change sequence of vehicle center coordinate Row；
B. in the change sequence of above-mentioned centre coordinate, from P0Start to take forward comprising P08 coordinates inside；
C. carry out one-accumulate forward according to time order and function order to above-mentioned 8 coordinates to handle, generate 1-AGO sequences；
D. 1-AGO sequences are fitted in xy side upwardly through 3 order polynomials respectively, show that the change on each direction is bent Line；
E. according to change curve, next extension point Q is drawneCoordinate；
5) by vector Q0P0Course angle α and P0QeCourse angle β be weighted it is average, you can obtain united reaper and exist The course angle h at current time.
Further, in the step 3), the extension between any two sampled point is counted out N and Vehicle Speed v Between meet relation：N=round (v/0.2) -1, wherein, round (x) is represented to x rounds.
Further, in the step 5), described α, β weights are respectively 0.6 and 0.4, i.e. the β of h=0.6 α+0.4.
Beneficial effects of the present invention：
The present invention is reasonable in design, is easy to apply, can pass through the course of single antenna Low-cost GPS accurate measurement combining Angle, state parameter is provided for navigation, can fully meet the needs of united reaper navigation popularization and application.
Brief description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of track combine single-point direction-finding method, comprises the following steps：
1) equipment is installed.Gps antenna is fixed on the geometric center at the top of united reaper, ensures antenna surrounding without gold Category object blocks.Start GPS, setting output frequency is 1Hz, and GPS messages are received by industrial computer.
2) position samples.Vehicle is travelled with 0.6m/s speed, records current time vehicle geometric center position respectively with GPS Put P0Adjacent 3 moment vehicle centers position P before1、P2、P3Plane coordinates.
3) position interpolation.According to formula：N=round (v/0.2) -1, the extension between two sampled points can be obtained and counted out N =2, it is 6 to amount to extension point.According to P3~P0Variation tendency, using traditional cubic spline interpolation in sampled point P3~P0 Between 6 extension point Q of insertion5~Q0
4) position prediction.Predict next extension point QePosition, specific method is：
A. sequentially in time, 4 sampled points are inserted into extension point, form the change sequence X of vehicle center coordinate ={ P3Q5Q4P2Q3Q2P1Q1Q0P0}。
B. in X, from P0Start to take 8 coordinates (to contain P forward0), form the original data sequence D=for position prediction {Q4P2Q3Q2P1Q1Q0P0, then data xy coordinates in D are separated, the coordinate sequence D formed in both directionx、Dy.Wherein Dx= {xn, Dy={ yn, xn, ynThe x and y coordinates of data in sequence D are represented respectively.
C. to sequence Dx、DyOne-accumulate processing forward is carried out respectively, generates the 1-AGO sequences in both direction Wherein,
D. the 1-AGO sequences in both direction are fitted by 3 order polynomials respectively, show that the change on each direction is bent Line fx(T)、fy(T)。
E. so future position Qe(xe,ye) specific coordinate be represented by：
xe=fx(9)-fx(8)ye=fy(9)-fy(8)。
5) weighted calculation：
A. according to Q0And P0Coordinate, calculate vector Q0P0Course angle α；
B. according to P0And QeCoordinate, calculate vector P0QeCourse angle β；
C. the β of course angle h=0.6 α+0.4 of the united reaper at current time is calculated.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.

Claims (3)

  1. A kind of 1. track combine single-point direction-finding method, it is characterized in that comprising the following steps：
    1) gps antenna is fixed on to the geometric center of united reaper；
    2) the current time position P of the united reaper geometric center is recorded by the GPS0Adjacent 3 moment before Position P1、P2、P3Plane coordinates；
    3) according to P3~P0Variation tendency, using cubic spline interpolation in sampled point P3~P0Between insertion extension point Qn~ Q0；
    4) next extension point Q is predictedePosition, method is：
    A. sequentially in time, 4 sampled points are inserted into extension point, form the change sequence of vehicle center coordinate；
    B. in the change sequence of above-mentioned centre coordinate, from P0Start to take forward comprising P08 coordinates inside；
    C. carry out one-accumulate forward according to time order and function order to above-mentioned 8 coordinates to handle, generate 1-AGO sequences；
    D. 1-AGO sequences are fitted in xy side upwardly through 3 order polynomials respectively, draw the change curve on each direction；
    E. according to change curve, next extension point Q is drawneCoordinate；
    5) by vector Q0P0Course angle α and P0QeCourse angle β be weighted it is average, you can obtain united reaper when current The course angle h at quarter.
  2. 2. track combine single-point direction-finding method according to claim 1, it is characterized in that in the step 3), appoint Extension between two sampled points of meaning is counted out meets relation between N and Vehicle Speed v：N=round (v/0.2) -1, its In, round (x) is represented to x rounds.
  3. 3. track combine single-point direction-finding method according to claim 1, it is characterized in that in the step 5), institute The weights for stating α, β are respectively 0.6 and 0.4, i.e. the β of h=0.6 α+0.4.
CN201710786428.7A 2017-09-04 2017-09-04 Single-point direction finding method for crawler-type combine harvester Active CN107479068B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114721375A (en) * 2022-03-14 2022-07-08 常州江苏大学工程技术研究院 Agricultural machinery single-antenna navigation path tracking method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102565834A (en) * 2011-11-30 2012-07-11 重庆九洲星熠导航设备有限公司 Single-frequency GPS (Global Positioning System) direction-finding system and direction-finding and positioning method thereof
CN104898687A (en) * 2014-08-21 2015-09-09 宁波市鄞州麦谷农业科技有限公司 Automatic driving system of crawler type combined harvester and control method
CN107450537A (en) * 2017-08-01 2017-12-08 南京农业大学 A kind of track combine low speed operation line tracking method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102565834A (en) * 2011-11-30 2012-07-11 重庆九洲星熠导航设备有限公司 Single-frequency GPS (Global Positioning System) direction-finding system and direction-finding and positioning method thereof
CN104898687A (en) * 2014-08-21 2015-09-09 宁波市鄞州麦谷农业科技有限公司 Automatic driving system of crawler type combined harvester and control method
CN107450537A (en) * 2017-08-01 2017-12-08 南京农业大学 A kind of track combine low speed operation line tracking method

Non-Patent Citations (3)

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Title
李新等: "三次样条插值在称重仪表误差补偿中的应用", 《电子设计工程》 *
陈弘等: "基于三次样条插值的车辆行驶数据分析", 《试验测试》 *
韩文霆: "喷灌均匀系数的三次样条两次插值计算方法", 《农业机械学报》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114721375A (en) * 2022-03-14 2022-07-08 常州江苏大学工程技术研究院 Agricultural machinery single-antenna navigation path tracking method
CN114721375B (en) * 2022-03-14 2024-03-26 常州江苏大学工程技术研究院 Agricultural machinery single antenna navigation path tracking method

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