A Simple Method to Improve Autonomous GPS Positioning for Tractors.ppt

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1、PrecisionAgriculture精细农业ASimpleMethodtoImproveAutonomousGPSPositioningforTractorsXiangshiPrecisionAgriculture精细农业1.IntroductionNecessaryGPSguidanceAutomaticnavigationoffarmmachineryisanessentialtechniquetorealizevariablerateapplicationsandcollectingfieldin

2、formation.Thepotentialbenefitsofautomatedagriculturaltractorsincludeincreasedproductivity,increasedapplicationaccuracy,andenhancedoperationsafety.AutomationNavigationIncreasedproductivityApplicationaccuracyOperationsafetynecessaryVariousguidancetechnologie

3、s1.mechanicalguidance2.Machinevisionguidance3.radionavigationAnewgenerationGPSbasedguidancetechnologyTrendAnewgenerationErrorsarealwayspresentBUT(INS)InertialNavigationSystemEmployingmorepreciseGPSreceiverPlacingtheGPSreceiveraheadofthetractor(ANEWPOSITION

4、))ExpensivecomplexCommonsolutionAnewsolutionSimpleLowcostPrecisionAgriculture精细农业2.method1。KinematicModel(运动模型)2。PositionandOrientationComputationoftheRearAxleMidpointfromGPSPositions：method13。PositionandOrientationComputationoftheRearAxleMidpointfromGPSPo

5、sitions：method24。ControlLawPrecisionAgriculture精细农业ExperimentalSystemFigureX。(a)6400JohnDeeretractorusedinthetests.TheredcircleindicatesthepositionoftheHaicomHI-204IIInavigationGPS,thebluecirclethepositionoftheTrimbleR4referenceGPS,theorangecirclethepositi

6、onofthemagneticencoder,andtheyellowcirclethepositionoftheDCmotorandpulley.(b)Magneticencoderusedformeasuringthesteeringangle.(c)DCmotorandpulleyusedformovingthesteeringsystem.DetailsaboutexperimentFigureX.DifferentpositionsoftheHaicomHI-204IIInavigationGPS

7、inthefieldtests.Thenavigationsensorpositionishighlightedwitharedcircle.(a)TheguidanceGPSplacedinthebackpartofthecabinovertherealaxle.(b)TheguidanceGPSplaced3maheadoftherearaxleofthetractor.(c)TheguidanceGPSplaced5maheadoftherearaxleofthetractor.Threeplacem

8、entsofthenavigationGPSinthefieldtestsat0,3and5metersPrecisionAgriculture精细农业ResultsandDiscussionFigure8.(a)Simulationresultsobtainedwhenthetractorfollowsastraightlineandexperimentalerrorsareadded.(b)Simulatio