期刊
TRANSACTIONS OF THE ASABE
卷 64, 期 2, 页码 389-399出版社
AMER SOC AGRICULTURAL & BIOLOGICAL ENGINEERS
DOI: 10.13031/trans.13682
关键词
Federal Kalman filter; GPS/INS/VNS; Information distribution factor; Information fusion; Integrated navigation
资金
- National Key Research and Development Program of China [2018YFD0700304]
- Key Research and Development Program of Anhui Province [202004a06020016, 202004a06020061]
This article presents an integrated navigation method using a federal Kalman filter to improve positioning accuracy for a rice transplanter in a paddy field. The method utilizes GPS, INS, and VNS technologies to reduce accumulated errors and achieve better navigation performance. Results show that the proposed method provides accurate and reliable navigation information outputs compared to conventional methods.
In this article, an integrated global positioning system (GPS), inertial navigation system (INS), and visual navigation system (VNS) navigation method based on an adaptive federal Kalman filter (KF) is presented to improve positioning accuracy for a rice transplanter operating in a paddy field. The proposed method used GPS/VNS to aid the 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 transplanter tests were conducted to verify the proposed method. Results showed that the proposed method provided accurate and reliable navigation information outputs and achieved better navigation performance compared with single GPS navigation and an integrated method based on a conventional federal KF.
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