Processing method of integrated navigation data for forestry robot

ZHENG Jiazhu,SHI Xingxi,CHEN Honghua

JOURNAL OF NANJING FORESTRY UNIVERSITY ›› 2014, Vol. 38 ›› Issue (02) : 128-132.

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

Processing method of integrated navigation data for forestry robot

  • ZHENG Jiazhu1,SHI Xingxi2,CHEN Honghua1
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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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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

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