林业机器人组合导航数据处理方法

doi:10.3969/j.issn.1000-2006.2014.02.024

国家林草科技领军期刊
中国精品科技期刊
中国高校百佳科技期刊
江苏省新闻出版政府奖期刊奖
RCCSE林学权威期刊（A+）
CSCD核心期刊
Scopus数据库收录期刊
中文核心期刊
SCD核心期刊

作者加群：102861116

微信公众号：南京林业大学学报

高级检索

南京林业大学学报（自然科学版） ›› 2014, Vol. 38 ›› Issue (02): 128-132.doi: 10.3969/j.issn.1000-2006.2014.02.024

林业机器人组合导航数据处理方法

郑加柱¹, 石杏喜², 陈红华¹

1.南京林业大学土木工程学院,江苏南京 210037;
2.南京理工大学理学院,江苏南京 210094

出版日期:2014-03-10 发布日期:2014-03-10
基金资助:
收稿日期:2013-05-08 修回日期:2013-10-09
基金项目:江苏省测绘科研项目(2012013)
第一作者:郑加柱,副教授,博士。E-mail: zjz90139@163.com。
引文格式:郑加柱,石杏喜,陈红华. 林业机器人组合导航数据处理方法[J]. 南京林业大学学报:自然科学版,2014,38(2):128-132.

Processing method of integrated navigation data for forestry robot

ZHENG Jiazhu¹,SHI Xingxi²,CHEN Honghua¹

1.School of Civil Engineering, Nanjing Forestry University, Nanjing 210037,China;
2. School of Science, Nanjing University of Science and Technology, Nanjing 210094, China

Online:2014-03-10 Published:2014-03-10

摘要/Abstract

摘要： 基于单基站DGPS/DR组合导航,分析林业机器人运动规律,根据其运动方程非线性和导航数据线性的特点,提出采用比例无迹变换线性化运动方程和广义卡尔曼滤波处理综合组合导航数据。阐述了此方法的完整处理过程,并仿真分析比较了此处理方法与其他方法的效果。结果表明,此方法不损失定位精度,且求解速度快、可靠性好。

Abstract: In this paper, the motion law of forestry robot was analyzed based on integrated navigation of the single station DGPS and DR. According to the characteristics of nonlinear motion equations and linear navigation data, the scaled unscented transformation was used to linearize the equations of motion, and then extended Calman filter was used to process integrated navigation data. This paper describes handling process, and simulates the results of this method, and compare with other methods. The results showed that this method had a high speed of solving and good reliability, and did not loss the location accuracy.

中图分类号:

TP394.1
S778

郑加柱,石杏喜,陈红华. 林业机器人组合导航数据处理方法[J]. 南京林业大学学报（自然科学版）, 2014, 38(02): 128-132.

ZHENG Jiazhu,SHI Xingxi,CHEN Honghua. Processing method of integrated navigation data for forestry robot[J].Journal of Nanjing Forestry University (Natural Science Edition), 2014, 38(02): 128-132.DOI: 10.3969/j.issn.1000-2006.2014.02.024.

参考文献

[1] 傲日格乐,刘尧.林业机械的应用与发展前景[J].内蒙古林业科技,2010(4):26-27. Aori G L,Liu Y. Application and prospect of forestry machinery[J]. Journal of Inner Mongolia Forestry, 2010(4):26-27.
[2] 姜树海.林业机器人的发展现状[J].东北林业大学学报,2009,37(12):95-97 Jiang S H. Development status of forestry robot[J]. Journal of Northeast Forestry University, 2009, 37(12):95-97.
[3] Hu ang J, Tan H S. DGPS/INS based vehicle positioning with novel DGPS noise processing[C]//Proceedings of the 2006 American Control Conference. Minneapolis: IEEE, 2006.
[4] Huang J, Tan H S. A Low order DGPS based vehicle positioning system under urban environment[J]. IEEE/ASME Transactions on Mechatronics, 2006, 11(5):567-575.
[5] 杨晓云,何恒,施浒立.车辆GPS/DR组合导航系统研究[J].测绘通报,2007(9):1-4. Yang X Y, He H, Shi H L. On the GPS/DR integrated navigation system for vehicle[J]. Bulletin of Surveying and Mapping,2007(9):1-4.
[6] 孙希延,纪元法,施浒立.卡尔曼滤波实现车载GPS/DR组合导航[J].现代电子技术,2006(11):149-152. Sun X Y, Ji Y F, Shi H L. Realization for the GPS/DR integrated navigation system of vehicle with kalman filter[J]. Modern Electronics Technique,2006(11):149-152.
[7] 边信黔,周佳加,严浙平,等.基于EFK的无人潜航器航位推算算法[J]. 华中科技大学学报:自然科学版,2011,39(3):100-104. Bian X Q,Zhou J J,Yan Z P, et al. Dead reckoning method for autonomous underwater vehicles based on EKF[J]. Journal of Huazhong University of Science and Technology:Natural Science Edition,2011,39(3):100-104.
[8] 朱虹,关桂霞,田健仲,等.基于UKF的GPS/DR组合导航非线性状态估计[J].计算机应用与软件,2008,25(12):83-85. Zhu H,Guan G X,Tian J Z, et al. Non-linear state estimation for GPS/DR integrated navigation based on UKF[J]. Computer Applications and Software, 2008,25(12):83-85.
[9] 刘毅,李鑫.基于UT变换与卡尔曼滤波的目标跟踪研究[J].计算机工程与设计,2010,30(14):3331-3335. Liu Y,Li X. Study of target tracking based on improved unscented transform Kalman filtering[J]. Computer Engineering and Design. 2010, 30(14):3331-3335.
[10] 潘泉,杨峰,叶亮.一类非线性滤波器——UKF综述[J].控制欲决策,2005,20(5):481-489 Pan Q, Yang F, Ye L. Survey of a kind of nonlinear filters—UKF[J]. Control and Decision, 2005,20(5):481-489.
[11] 郑加柱,陈健,隋铭明,等.一体化城市部件信息采集器的研制[J].南京林业大学学报:自然科学版,2011,35(4):106-110. Zheng J Z, Chen J, Sui M M, et al.Development of integrated urban component information acquisition collector[J]. Journal of Nanjing Forestry University:Natural Sciences Edition,2011,35(4):106-110.
[12] 李明阳,刘敏,刘米兰.基于GIS的森林调查因子地统计学分析[J].南京林业大学学报:自然科学版,2010,36(6):66-70. Li M Y, Liu M, Liu M L. GIS-based geostatistical analysis of forest inventory factors[J]. Journal of Nanjing Forestry University:Natural Sciences Edition,2010,36(6):66-70.
[13] Ju Lier S J, Uh Lmann J K. Unscented filtering and nonlinear estimation[J]. Proceedings of the IEEE, 2004,92(3):401-422.
[14] 石杏喜,王铁生,黄波,等.基于SUT-EKF的DGPS/DR组合定位算法[J].测绘学报,2010,39(5):529-533 Shi X X, Wang T S, Huang B, et al. Integrated localization algorithm for DGPS/DR based on SUT-EKF[J]. Acta Geodaetica et Cartographica Sinica, 2010,39(5):529-533.
[15] 袁克非.组合导航系统多源信息融合关键技术研究[D].哈尔滨:哈尔滨工业大学,2012. Yuan K F. Key Technique of multi-source information fusion in integrated navigation system[D]. Harbin: Harbin Engineering University,2012.

林业机器人组合导航数据处理方法

Processing method of integrated navigation data for forestry robot

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 0

编辑推荐

Metrics

本文评价

作者

读者

审稿