摘要
为了提高植保机的导航控制精度,基于通信滤波融合算法,实现了GPS导航和视觉导航的融合。首先,建立了视觉导航系统,实现实际空间坐标向成像平面坐标的转化,探究图像样本数量对于系统标定的影响;其次,采用流光法计算植保机速度v,设定植保机飞行调整时间间隔为312.5ms;最后,采用通信滤波融合算法对GPS导航和视觉导航进行融合,融合环节采用线性关系,融合参数为视觉导航速度v和GPS导航的精度因子HDOP。对融合算法进行测试,结果表明:偏差最大为2,最小为-0.5,算法可以提高植保机导航精度与可靠性。
In order to improving the navigation accuracy for plant protection machine,fusion between GPS navigation and visual navigation was achieved by communication filter fusing algorithm.Firstly,visual navigation was achieved,and coordinate transformation between actual space coordinate and imaging plane coordinate was finished.The number of image samples effect on system calibration was analyzed.Secondly,plant protection machine speed v was calculated by streamer method,flight adjustment interval was 312.5ms.Fusion between GPS navigation and visual navigation was achieved,visual navigation speed v and accuracy factor HDOP of GPS navigation were taken as coupling parameters,and the fusing was linear.The test for fusion was taken,the result showed that the maximum deviation was 2,and the minimum deviation was-0.5.This fusion could improve the navigation accuracy and reliability for plant protection machine.
作者
麻悦
Ma Yue(Henan Vocational College of Water Conservancy and Environment,Zhengzhou 450000,China)
出处
《农机化研究》
北大核心
2023年第11期194-198,共5页
Journal of Agricultural Mechanization Research
基金
中国管理科学研究院苏州教育研究所“十三五”教育科研规划重点课题(ZGYSJS002-SC170002)。
关键词
通讯耦合算法
视觉导航
GPS导航
植保机
communication coupling algorithm
visual navigation
GPS navigation
plant protection machine
作者简介
麻悦(1983-),男,郑州人,讲师,(E-mail)dh93oqf@163.com。
