Research On Autopilot System Of Agricultural Machinery Based On Beidou Navigation Satellite System

During the recent years,the No.1 Central Document clearly put forward to develop agriculture combined with modern technology and construct an agricultural informationization and mechanized agricultural system.The No.1 Central Document aims at the "agricultural precision operations and information technology" as the focus of the development of agricultural modernization.The paper focus on BeiDou Navigation Satellite System of agricultural automatic driving technology,which is one of the important applications of China's mechanical intelligent and high-tech agriculture.It is also significant to carry out researches on agricultural science and technology modernization.This paper makes an in-depth study on the autopilot system of agricultural machinery based on BeiDou Navigation Satellite System,which combined with satellite positioning algorithm,embedded software and hardware development,automatic driving control technology and other intelligent technology.The paper includes the following researches:In the first place,this paper makes a detailed description on the overseas and domestic research status and the practical application technology of the global satellite navigation system and agricultural automatic driving system.It puts forward the overall framework of hardware and software design of agricultural automatic driving system based on BeiDou Navigation Satellite System.Secondly,the paper executes a related overview of the BeiDou Navigation Satellite System and has an in-depth research of the algorithm of BeiDou receiver positioning algorithms to improve the positioning accuracy of the Bei Dou receiver which includes Least Square Method,Kalman Filter Method,Extended Kalman Filter Method.To solve the effect of gross error,the paper proposes Robust Adaptive Extended Kalman Filter Method,Through the simulation results,it can be found that the localization errors of different positioning algorithms are various.As the conclusion,used Robust Adaptive Kalman filter is better than other algorithms.Further,the hardware of the automatic control system of the agricultural machinery is completed composition based on the ARM microprocessor.The peripheral circuit of each module is designed by Altium Designer software,and the system serial communication byCAN,RS232,etc.And then,in line with the principles and requirements of software development,uses the embedded Linux to develop the agricultural automatic driving system software,to realize the function of each module.Ultimately,conducting practical field test by proceeding a comprehensive analysis of the experimental data.In that way to test the system's hardware and software design is reasonable and effective enough to achieve the required agricultural automatic driving function.