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首页> 外文会议>IFIP TC 5/SIG 5.1 conference on computer and computing technologies in agriculture;CCTA 2011 >A Low-Cost Positioning System for Parallel Tracking Applications of Agricultural Vehicles by Using Kalman Filter
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A Low-Cost Positioning System for Parallel Tracking Applications of Agricultural Vehicles by Using Kalman Filter

机译：卡尔曼滤波器的农用车并行跟踪应用低成本定位系统

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摘要

A position-velocity (PV) model and a multi-sensor system, consisted of a consumer application GPS, a MEMS gyro, two encoders, and a turning angle sensor, was constructed for the positioning system. The two encoders augmented the positioning accuracy greatly that the fluctuation of vehicle position was greatly smoothed comparing with a GPS-only system. The minimal fluctuation was falling from 2.21 m to 0.52 m (east direction), from 0.68 m to 0.23 m (north direction). The maximum XTE was reduced from 2.5 m to 0.77 m, and the RMS value was improved to 0.22m. The GPS bias error was the major difficulty to produce better performance.
机译：为该定位系统构建了一个位置-速度（PV）模型和一个多传感器系统，该系统由一个消费类应用GPS，一个MEMS陀螺仪，两个编码器和一个转角传感器组成。与仅使用GPS的系统相比，这两个编码器极大地提高了定位精度，从而大大降低了车辆位置的波动。最小波动从2.21 m下降至0.52 m（东向），从0.68 m下降至0.23 m（北向）。最大XTE从2.5 m降低到0.77 m，RMS值提高到0.22 m。 GPS偏置误差是产生更好性能的主要困难。

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