基于情境约束卡尔曼滤波器和双天线 RTK 的改进型农机导航信息融合技术

IF 2.2 3区 工程技术 Q2 ENGINEERING, MECHANICAL Actuators Pub Date : 2024-04-25 DOI:10.3390/act13050160
Bingbo Cui, Jianxin Zhang, Xinhua Wei, Xinyu Cui, Zeyu Sun, Yan Zhao, Yufei Liu
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引用次数: 0

摘要

基于双天线实时运动学(RTK)定位的自动导航已被广泛用于无人驾驶农业机械,而全球导航卫星系统不可避免地受到信号阻塞和电磁干扰的影响。为了提高基于 RTK 的导航系统在 GNSS 干扰环境下的可靠性,人们倾向于采用集成导航系统进行自主导航,这增加了导航系统的复杂性和成本。几十年来,卡尔曼滤波器(KF)一直主导着综合导航的信息融合,但 KF 无法有效吸收导航环境的已知知识。本文利用直线路径的几何特征和路径跟踪误差来建立约束测量模型,从而抑制 RTK 降级情况下的位置误差。然后将伪测量结果导入 KF 框架,生成平滑导航状态作为副产品,从而提高了无外部传感器 RTK 定位的可靠性。移动车辆自动导航实验结果表明,当 RTK 系统输出浮动或单点定位(SPP)解时,跟踪误差约束 KF(EC-KF)优于轨迹约束 KF(TC-KF)和 KF。在 SPP 解的持续时间为 20 秒的情况下,EC-KF 和 TC-KF 的定位误差比 KF 分别减少了 38.50% 和 24.04%。
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Improved Information Fusion for Agricultural Machinery Navigation Based on Context-Constrained Kalman Filter and Dual-Antenna RTK
Automatic navigation based on dual-antenna real-time kinematic (RTK) positioning has been widely employed for unmanned agricultural machinery, whereas GNSS inevitably suffers from signal blocking and electromagnetic interference. In order to improve the reliability of an RTK-based navigation system in a GNSS-challenged environment, an integrated navigation system is preferred for autonomous navigation, which increases the complexity and cost of the navigation system. The information fusion of integrated navigation has been dominated by Kalman filter (KF) for several decades, but the KF cannot assimilate the known knowledge of the navigation context efficiently. In this paper, the geometric characteristics of the straight path and path-tracking error were employed to formulate the constraint measurement model, which suppresses the position error in the case of RTK-degraded scenarios. The pseudo-measurements were then imported into the KF framework, and the smoothed navigation state was generated as a byproduct, which improves the reliability of the RTK positioning without external sensors. The experiment result of the mobile vehicle automatic navigation indicates that the tracking error-constrained KF (EC-KF) outperforms the trajectory-constrained KF (TC-KF) and KF when the RTK system outputs a float or single-point position (SPP) solution. In the case where the duration of the SPP solution was 20 s, the positioning errors of the EC-KF and TC-KF were reduced by 38.50% and 24.04%, respectively, compared with those of the KF.
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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