doi:10.13733/j.jcam.issn.2095-5553.2020.01.27

Journal of Chinese Agricultural Mechanization ›› 2020, Vol. 41 ›› Issue (1): 148-154.DOI: 10.13733/j.jcam.issn.2095-5553.2020.01.27

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Online:2020-01-15 Published:2020-01-15

基于卡尔曼滤波的播种机GPS测速数据优化算法研究

李亚军;向阳;刘研;林洁雯;胡正方;代秀峰;

湖南农业大学工学院;

基金资助:
湖南省科技厅重点项目(2017NK2131);; 2018年湖南省大学生研究性学习和创新性实验计划项目(SCX1812)

Abstract

摘要： 利用GPS可获取播种机行进速度,为控制排种器转速提供参考。针对低成本GPS接收机在低速时测速精度较低不能满足精密播种要求的问题,搭建速度监测移动平台,对0.5～1 m/s速度范围的GPS测速数据精度进行分析,并基于卡尔曼滤波对GPS测速数据进行优化。试验及数据分析结果表明,随着移动速度的降低,原始GPS测速数据误差不断增大,最大相对均方根误差可达7.3%。使用卡尔曼滤波优化后,相对均方根误差比滤波前平均低3.93%,且测速数据精度受移动速度的影响大幅下降。拖拉机搭载GPS试验结果表明,应用优化算法可将GPS测速数据相对误差由平均4.85%降低到2.27%。

CLC Number:

S223.2

李亚军;向阳;刘研;林洁雯;胡正方;代秀峰;. 基于卡尔曼滤波的播种机GPS测速数据优化算法研究[J]. 中国农机化学报, 2020, 41(1): 148-154.

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基于卡尔曼滤波的播种机GPS测速数据优化算法研究

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