JOURNAL OF NANJING FORESTRY UNIVERSITY ›› 2014, Vol. 38 ›› Issue (02): 128-132.doi: 10.3969/j.issn.1000-2006.2014.02.024

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Processing method of integrated navigation data for forestry robot

ZHENG Jiazhu1,SHI Xingxi2,CHEN Honghua1   

  1. 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

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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