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首页> 外文期刊>Computers and Electronics in Agriculture >Development of a low-cost attitude sensor for agricultural vehicles.
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Development of a low-cost attitude sensor for agricultural vehicles.

机译：开发用于农用车辆的低成本姿态传感器。

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The objective of this research was to develop a low-cost attitude sensor for agricultural vehicles. The attitude sensor was composed of three vibratory gyroscopes and two inclinometers. A sensor fusion algorithm was developed to estimate tilt angles (roll and pitch) by least-squares method. In the algorithm, the drift error of the gyroscopes was estimated using the inclinometers. In addition to tilt angles, the attitude sensor also estimated the absolute heading angle and position with inclination error correction by integrating a GPS. Tests were conducted on a flat field, a sloping ground and a bumpy road. Results showed that the attitude sensor was able to estimate the roll angle with the maximum root mean square error of 0.43 degrees , the pitch angle with 0.61 degrees and the heading angle with 0.64 degrees . Moreover, the attitude sensor dramatically improved the positioning accuracy from 25.9 cm to 3.0 cm in the sloping ground test and from 8.4 cm to 3.7 cm in the bumpy road test. The proposed technology used in the attitude sensor will help to develop advanced agricultural applications.Digital Object Identifier http://dx.doi.org/10.1016/j.compag.2011.01.017
机译：这项研究的目的是开发一种用于农用车辆的低成本姿态传感器。姿态传感器由三个振动陀螺仪和两个倾斜仪组成。开发了一种传感器融合算法，以通过最小二乘法估算倾斜角（滚动和俯仰）。在该算法中，使用测斜仪估算了陀螺仪的漂移误差。除倾斜角外，姿态传感器还通过集成GPS估算了绝对航向角和位置，并进行了倾斜误差校正。测试是在平坦的场地，倾斜的地面和崎bump不平的道路上进行的。结果表明，姿态传感器能够估计滚动角，最大均方根误差为0.43度，俯仰角为0.61度，航向角为0.64度。此外，姿态传感器在倾斜地面测试中将定位精度从25.9 cm提高到3.0 cm，在崎the不平的道路测试中从8.4 cm提高到3.7 cm。姿态传感器中使用的拟议技术将有助于发展先进的农业应用。数字对象标识符http://dx.doi.org/10.1016/j.compag.2011.01.017

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