An Integrated Navigation Method Based on an Adaptive Federal Kalman Filter for a Rice Transplanter

IF 1.4 4区 农林科学 Q3 AGRICULTURAL ENGINEERING Transactions of the ASABE Pub Date : 2021-01-01 DOI:10.13031/TRANS.13682
Liao Juan, Wang Yao, Yin Junnan, Bi Lingling, Zhang Shun, Huiyu Zhou, Zhu Dequan
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引用次数: 4

Abstract

Highlights A GPS/INS/VNS integrated navigation system to improve navigation accuracy. An adaptive federal Kalman filter with the adaptive information distribution factor to fuse navigation information.  Detection of seedling row lines based on sub-regional feature points clustering. A modified rice transplanter as an automatic navigation experimental platform. In this study, a global positioning system (GPS)/inertial navigation system (INS)/visual navigation system (VNS)-integrated navigation method based on an adaptive federal Kalman filter (KF) was presented to improve positioning accuracy for rice transplanter operating in paddy field. The proposed method used GPS/VNS to aid INS and reduce the influence of the accumulated error of the INS on navigation accuracy. An adaptive federal KF algorithm was designed to fuse navigation information from different sensors. The information distribution factor of each local filter was obtained adaptively on the basis of its own error covariance matrix. Computer simulation and the transplanter test were conducted to verify the proposed method. Results showed that the proposed method could provide accurate and reliable navigation information outputs, and achieve better navigation performance compared with that of single GPS navigation and integrated method based traditional federal KF.
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基于自适应联邦卡尔曼滤波的水稻插秧机综合导航方法
采用GPS/INS/VNS组合导航系统,提高导航精度。采用自适应信息分布因子的自适应联邦卡尔曼滤波器融合导航信息。基于子区域特征点聚类的幼苗行线检测。一种改进型水稻插秧机自动导航实验平台。提出了一种基于自适应联邦卡尔曼滤波(KF)的全球定位系统(GPS)/惯性导航系统(INS)/视觉导航系统(VNS)组合导航方法,以提高水稻插秧机在稻田作业中的定位精度。该方法利用GPS/VNS辅助惯导系统,减小惯导系统累积误差对导航精度的影响。设计了一种自适应联邦KF算法来融合不同传感器的导航信息。根据各局部滤波器的误差协方差矩阵自适应地获得各局部滤波器的信息分布因子。通过计算机仿真和移栽试验验证了该方法的有效性。结果表明,该方法能够提供准确可靠的导航信息输出,与单一GPS导航和基于传统联邦KF的综合方法相比,具有更好的导航性能。
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来源期刊
Transactions of the ASABE
Transactions of the ASABE AGRICULTURAL ENGINEERING-
CiteScore
2.30
自引率
0.00%
发文量
0
审稿时长
6 months
期刊介绍: This peer-reviewed journal publishes research that advances the engineering of agricultural, food, and biological systems. Submissions must include original data, analysis or design, or synthesis of existing information; research information for the improvement of education, design, construction, or manufacturing practice; or significant and convincing evidence that confirms and strengthens the findings of others or that revises ideas or challenges accepted theory.
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