摘要
农机车载GPS定位易受抖动影响,农田垄线不平坦会导致车载GPS抖动而使其定位不准确,造成农机作业的工作误差。传统的线性滤波车载GPS定位方法不能有效解决抖动造成的定位准确度不高的问题。为此,提出双假设滤波算法的车载GPS定位方法。用活化函数控制卡尔曼滤波器的增益而初步削弱抖动的影响,引入自适应衰减因子建立快速反应滤波器,并通过跟踪农机的机动变化来抖动影响,最终完成农机定位。仿真实验表明,这种方法能够有效去除因垄线不直存在的抖动问题,准确地完成农机车载GPS的定位。
Researched the agricultural production farm machinery on-board GPS positioning problem to improve the positioning accuracy.Farm machinery on-board GPS positioning vulnerable is easy influenced by jitter.The car GPS will shake when farmland long lines is not flat,causing car GPS position is not accurate,resulting the work error of agricultural machinery operation.The traditional linear filter on-board GPS positioning method cannot effectively remove jitter influence,causing the problem of low location accuracy.In order to solve this problem,this paper put forward the on-board GPS filter double localization method.Using activation function controls kalman filter gain and preliminary wea-kens the effect of jitter.Introducing self-adapting attenuation factor establishes a rapid response filter,and combining with the farm machinery motor change track finishes removing jitter influence,completing farm machinery positioning at last.Simulation results show that this method can effectively remove shaking influence caused by unstraight long line,accuratly finish the orientation of agricultural machinery car GPS.
出处
《计算机科学》
CSCD
北大核心
2012年第12期216-219,共4页
Computer Science
基金
国家自然科学基金(9140C1101061886)资助
关键词
线性滤波
活化函数
衰减因子
Linear filter
Activation function
Attenuation factor
