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Measurement of travelling locus of tractor by two rolling wheels

机译：用两个滚轮测量拖拉机的行驶轨迹

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摘要

We designed and tested a new positioning apparatus of a tractor. This apparatus was constructed withtwo rolling wheels to measure the travelling distance and the travelling direction. Even in the case ofside slipping, this apparatus indicated the correct travelling direction of the tractor. The measurementerror of the travelling distance was the degree of ±0.21%. The error of the angle of the travelling direction was proportional not to the steering angle but to the travelling distance. In theory, by resolution ability of the rotary encoder, the degree of error was 0.65 degrees per 100m travelling. The actual error in experiment was almost the same degree or 2 times. At a slope land of 8 degrees, it made nearly correct positioning.
机译：我们设计并测试了一种新型拖拉机定位装置。该装置由两个滚轮构成，以测量行进距离和行进方向。即使在侧滑的情况下，该设备也可以指示拖拉机的正确行驶方向。行驶距离的测量误差为±0.21％。行驶方向的角度误差与转向角不成正比，与行驶距离成正比。理论上，根据旋转编码器的分辨能力，每100m行进的误差度为0.65度。实验中的实际误差几乎相同或两倍。在8度的坡度上，它几乎可以正确定位。

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