Authors

Abstract

Aiming at the problems of poor adaptability and low operational safety of agricultural machinery in hilly and mountainous areas, this study conducts the design and experimental research on a high-precision autonomous positioning system for the multi-crop combined harvester. The Beidou+IMU high-precision positioning system based on Network RTK (NRTK) was designed, and the hardware selection and software development of the autonomous positioning system were completed. The NRTK fixed base station in complex field environments was deployed Based on 4G communication, and dynamic differential calculations were performed with the random positions of the machinery to accurately obtain positioning data. Using the STM32L475 chip as the core information processor, efficient processing of real-time position information of combined harvester was realized based on coordinate conversion and attitude error correction of the autonomous positioning system. Performance tests were carried out using a self-developed the combined harvester. The results show that: the positioning error of the designed autonomous positioning system is less than 2 cm; when the harvester's speed ranges from 0.4 to 1.2 m/s, the maximum speed measurement error is less than 0.05 m/s, and the average speed measurement error is approximately 0.014 m/s, which meets the autonomous positioning accuracy requirements of the machinery.

Abstract in Chinese

针对丘陵山区农机具适应性差、作业安全性低等问题，进行了多作物联合收获机高精度自动定位系统的设计与试验研究。设计了基于网络RTK的北斗+IMU高精度定位系统，完成了定位系统的硬件选型及软件开发。基于4G通信，通过Web网页部署复杂田间环境下网络RTK固定基站，在与机具随机位置进行动态差分运算，精确获取定位数据；以STM32L475芯片作为信息核心处理器，在收获机定位系统的坐标转换以及姿态误差修正的基础上，实现收获机作业中实时位置信息的高效处理。以自主研发的联合收获机为载体进行性能测试，结果表明：设计的导航系统的定位误差小于2cm，在收获机车速0.4~1.2m/s范围内，最大测速误差小于0.05m/s，平均测速误差约为0.014m/s，满足机具田间作业时的精度需求。