Research On Farm Machinery Integrated Navigation System Based On Beidou Positioning

The agricultural vehicle integrated navigation system based on Beidou positioning is studied for the realization of the automatic navigation and precise positioning of agricultural machinery. Positioning accuracy can not meet the requirements of modern agricultural machinery in condition of just using Beidou navigation system for positioning. In order to get higher precision, improve the operation of agricultural production efficiency and product quality. The Beidou navigation system adopted as the main orientation method and machine vision navigation system selected as auxiliary positioning method are combined together under the low cost.The key technology of the agricultural vehicle integrated navigation system based on Beidou positioning is analyzed and the path planning algorithm,system simulation based on kalman filter algorithm and data fusion algorithm is conducted.According to the actual circumstance of farm machinery operation,the two optimization objectives is selected and the shortest path planning algorithm,which includes Linear assignment algorithm in Operation area and Turning operation algorithm field in non-Operation area is designed.The simulation of positioning data based on extended kalman algorithm and no trace after kalman algorithm have been compared,and the results show that no trace kalman algorithm can better meet the system requirements.According to the overall design scheme of vehicular integrated navigation system and the performance of each function module,on-board computer and Beidou navigation board is selected as integrated navigation system hardware. According to the system characteristic,the EPCS- 8980 industrial computer and related auxiliary equipment is chosen as the on-board computer and UM220 Beidou module and antenna is selected as Beidou positioning receiver.the function modules of the system software is designed in this paper,including the Beidou receiver processing module,UKF positioning decoding module,navigation module,etc.All functional software program of the system is designed in the environment of EVC and eSuperMap,which include the main program, BDS receive handler, kalman filtering algorithm procedures,etc.Agricultural vehicle integrated navigation software based on Beidou positioning system was installed on the on-board computer,and then the on-board computer and other equipment installed on the tractor form a complete navigation test unit.A test had been conducted by using the testing scheme designed in this paper, and theexperimental results show that the system can run normally and achieve its intended function.