林业机器人组合导航数据处理方法

郑加柱; 石杏喜; 陈红华

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,石杏喜,陈红华

南京林业大学学报（自然科学版） ›› 2014, Vol. 38 ›› Issue (02) : 128-132.

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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

研究论文

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

作者信息 +

Processing method of integrated navigation data for forestry robot

ZHENG Jiazhu¹,SHI Xingxi²,CHEN Honghua¹

Author information +

文章历史 +

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.

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导出引用

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 https://doi.org/10.3969/j.issn.1000-2006.2014.02.024

ZHENG Jiazhu,SHI Xingxi,CHEN Honghua. Processing method of integrated navigation data for forestry robot[J]. JOURNAL OF NANJING FORESTRY UNIVERSITY. 2014, 38(02): 128-132 https://doi.org/10.3969/j.issn.1000-2006.2014.02.024

中图分类号： TP394.1 S778

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基金

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.