CN109900296A - A kind of agricultural machinery working travel speed detection system and detection method - Google Patents
A kind of agricultural machinery working travel speed detection system and detection method Download PDFInfo
- Publication number
- CN109900296A CN109900296A CN201910222716.9A CN201910222716A CN109900296A CN 109900296 A CN109900296 A CN 109900296A CN 201910222716 A CN201910222716 A CN 201910222716A CN 109900296 A CN109900296 A CN 109900296A
- Authority
- CN
- China
- Prior art keywords
- speed
- agricultural machinery
- hall sensor
- measuring module
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of agricultural machinery working travel speed detection system and detection methods, the detection system includes GPS speed measuring module, Hall sensor speed measuring module and single chip computer measurement unit, the detection method are as follows: GPS speed measuring module and Hall sensor speed measuring module synchro measure agricultural machinery working travel speed；Moving average filter processing is carried out to the data measured；Treated GPS speed measuring module speed data and Hall measurement data are made poor, update the measured value of Kalman filter；Kalman filter system deviation value is added to through obtaining final velocity estimation value on moving average filter treated Hall measurement data after real-time estimation to the system deviation of Hall sensor speed measuring module.The data information of the measurement of GPS speed measuring module and Hall sensor speed measuring module is carried out integrated treatment by the present invention, obtains the more accurate operating speed detection of agricultural machinery especially paddy agriculture machinery.
Description
Technical field
The present invention relates to agricultural machinery, operating speed detection technique field more particularly to a kind of agricultural machinery working traveling are fast over the ground
Spend detection system and detection method.
Background technique
Ground speed during agricultural mechanical operation is important underlying parameter, has both been operation gear and throttle size
It determines to provide and directly refer to, also the decision for application rate and agriculture chemical amount of application provides quantitative basis.Agricultural machinery working speed
Accurate detection in real time, is the important prerequisite that Modern Agricultural Machine realizes accurate operation.
The detection of agricultural machinery working speed mainly has driving wheel wheel speed measurement and contactless measures two ways over the ground.Driving
The measurement method for taking turns wheel speed, mainly by magneto-electric type wheel speed sensor, electric vortex type wheel speed sensors and Hall linear set accepted way of doing sth wheel
Fast sensor completes driving wheel tachometric survey, and then by driving wheel diameter to be converted into ground speed.It is contactless to measure over the ground
Mode mainly has accelerometer method, doppler effect method, wind pressure measurement method, photoelectric sensor method, laser velocimetry and GPS to survey
Amount method etc..In view of the severe work such as trackslip, jolt, vibrate under the conditions of agricultural machinery especially machines working in paddy field farm work
The influence factors such as condition, sensor measurement principle and mounting means, these measurement methods either precision not enough otherwise high expensive,
Real-time, accuracy and cost-effectiveness requirement that Modern Agricultural Machine detects operating speed can't be fully met.
Summary of the invention
In order to overcome the shortcomings of the prior art, the present invention provides a kind of agricultural machinery working travel speed detection system and inspection
The measurement data of GPS speed measuring module and Hall sensor speed measuring module is carried out integrated treatment by survey method, obtains agricultural machinery spy
It is not the more accurate operating speed detection of paddy agriculture machinery.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of agricultural machinery working travel speed detection system, including velocity sensor assembled unit and single chip computer measurement unit,
The velocity sensor is connect with single chip computer measurement unit, and the single chip computer measurement unit is used for data acquisition and processing (DAP),
The velocity sensor assembled unit includes GPS speed measuring module and Hall sensor speed measuring module, and the GPS tests the speed
Module measures agricultural machinery longitudinal direction ground speed using GPS signal, and the Hall sensor speed measuring module is for measuring agricultural machinery driving wheel
Revolving speed and be converted to agricultural machinery working travel speed,
The single chip computer measurement unit includes data acquisition module, data sliding average treatment module and Kalman filter
Device, the data acquisition module are used to acquire the measurement data of GPS speed measuring module and Hall sensor speed measuring module, the data
Sliding average processing module obtains new filter result, the Kalman for doing moving average filter operation to measurement data
Filter is used to estimate the deviation of the measurement data of Hall sensor speed measuring module and be corrected.
As a preferred technical solution, the Hall sensor speed measuring module include test the speed turntable, the carousel supports that test the speed seat,
Magnet steel, Hall sensor, Hall sensor support rod, the turntable that tests the speed are connect with agricultural machinery driving wheel by chain conveyer mode,
And be mounted on and test the speed on carousel supports seat, the carousel supports that test the speed seat is connect with Hall sensor support rod, Hall sensor support
Hall sensor is installed, the magnet steel, which is evenly distributed on, to test the speed on turntable, the sensitive surface aligned magnetic of the Hall sensor on bar
The magnetic pole of steel, the driven by rotary disc magnet steel that tests the speed rotation, Hall sensor acquisition pulse signal.
A kind of agricultural machinery working running speed detecting method, it is described that specific step is as follows:
GPS speed measuring module measures agricultural machinery longitudinal direction ground speed vg；
Hall sensor speed measuring module measures agricultural machinery and drives wheel speed, and converts and obtain agricultural machinery working speed vh；
Ground speed v is measured to GPSgAgricultural machinery working speed v is measured with Hall sensor speed measuring modulehIt is slided respectively
Average filter processing；
It is poor that moving average filter treated ground speed and agricultural machinery working speed are made, and obtained difference is as Kalman
The measurement updaue value of filter；
Kalman filter carries out real-time estimation to the system deviation of Hall sensor speed measuring module；
The system deviation value obtained after Kalman filter real-time estimation is superimposed upon agricultural machinery working speed vhIt is flat through sliding
In data after being filtered, final velocity estimation value is obtained.
The quantity of state of the Kalman filter is what Hall sensor speed measuring module tested the speed as a preferred technical solution,
Registration error estimation value, measurement amount are moving average filter treated GPS speed measuring module speed measurement data and hall sensing
The difference of device speed measuring module measurement data.
The format for the agricultural machinery ground speed data that the GPS speed measuring module measures as a preferred technical solution, are as follows:
$ GPVTG, T, M, 0.00, N, 0.00, K*4E,
Wherein, $ GPVTG indicates the type of data packet, and the field after $ GPVTG is the course angle relative to geographic north, single
Position is degree；T indicates geographic north, is the meaning in geographical north, and the field after $ GPVTG is the course angle relative to magnetic north, and unit is
Degree；M indicates magnetic north, is GPS ground speed after M, and unit is section；N indicates speed unit section, and the speed of 1 section is per hour 1
In the sea, the field after N is GPS ground speed, unit Km/h；K indicates speed unit Km/h；* 4E indicates the data packet
Exclusive or check and, change with the variation of packet content；
The ground speed field that single chip computer measurement unit is Km/h by the linear module in interception $ GPVTG data packet, obtains
To the GPS ground speed v of agricultural machineryg。
The agricultural machinery working speed v that the Hall sensor speed measuring module measures as a preferred technical solution,hCalculating it is public
Formula are as follows:
vh=3.6 π D/ Δ T/8,
Wherein, vhUnit be Km/h, Δ T be two pulse signals of single chip computer measurement unit time interval, π D/8 table
Show in time interval Δ T, wheel turns over 1/8 week corresponding operating range, and D is driving wheel diameter, unit m.
It is described as a preferred technical solution, that ground speed v is measured to GPSgAgricultural machinery working speed is measured with Hall sensor
Spend vhComprising the concrete steps that for moving average filter processing is carried out respectively: the N number of sampled value continuously obtained is set as a queue, team
The length of column is fixed as N, samples a new data every time and is put into tail of the queue, and removes a data of former head of the queue, in queue
N number of data carry out arithmetic average operation, obtain new filter result.
The calculation formula of the Kalman filter is described in detail below as a preferred technical solution:
Wherein, xkFor the Hall velocity-measuring system estimation of deviation value at k moment, xk-1For the Hall velocity-measuring system deviation at k-1 moment
Estimated value,For the Hall velocity-measuring system deflection forecast value at k moment, PkFor the systematic procedure Noise Variance Estimation value at k moment,
Pk-1For the systematic procedure Noise Variance Estimation value at k-1 moment,For the systematic procedure noise variance predicted value at k moment, Q is to be
System process-noise variance empirical value, R are systematic survey noise variance empirical value, KkFor the gain weight at k moment, zkIt is sliding for the k moment
The difference of GPS velocity data and Hall measurement data after dynamic average filter, is measurement updaue of the Kalman filter at the k moment
Value,
Formula (1) and formula (2) constitute the predictive equation group of Kalman filter；Formula (3), formula (4) and formula (5)
The correction equation group of Kalman filter is constituted,
The Kalman filter carries out the system deviation of Hall sensor speed measuring module as a preferred technical solution,
That specific step is as follows is described for real-time estimation:
By Initial state estimation x0P is estimated with initial filter error covariance matrix0Introduce the predictive equation group of Kalman filter
Formula (1) and formula (2) in,
Start Kalman filter, subsequent time state is predicted by the formula (1) in predictive equation group, then by pre-
Survey equation group in formula (2) error variance of prediction is estimated,
Prediction process terminates, and starts the correction course of Kalman filter, resolves gain matrix using formula (3), and combine
Predictive equation group is updated the prediction result of subsequent time state using formula (4) to the state estimation of predictive equation group,
Current optimal estimation is obtained,
The error variance value of current optimal estimation is resolved using formula (5).
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention proposes agricultural mechanical operation speed detection methods, and GPS speed measuring module and Hall sensor are tested the speed
Module combines measurement agricultural machinery working speed, is both suitble to dry land agricultural machinery, is also suitble to paddy agriculture mechanical.
(2) Kalman filter that the present invention uses can be according to the speed data that GPS speed measuring module measures to hall sensing
The system deviation that device speed measuring module tests the speed is estimated and is corrected, to provide more accurate agricultural mechanical operation velocity measuring
Value.
(3) present invention had both overcome the influence that agricultural machinery driving wheel spike tests the speed to Hall sensor, also improved system survey
Fast precision, reduces costs simultaneously.
Detailed description of the invention
Fig. 1 is agricultural machinery working travel speed detection system composition schematic diagram of the present invention；
Fig. 2 is the component scheme of installation of Hall sensor speed measuring module of the present invention；
Fig. 3 is agricultural machinery working running speed detecting method flow diagram of the present invention；
Fig. 4 is the data flow figure of Kalman filter of the present invention；
Fig. 5 is that the difference under 3Km/h velocity conditions of the present invention tests the speed Comparative result curve graph；
Fig. 6 is that the difference under 4Km/h velocity conditions of the present invention tests the speed Comparative result curve graph；
Fig. 7 is that the difference under 5Km/h velocity conditions of the present invention tests the speed Comparative result curve graph；
Fig. 8 is that the difference under 6Km/h velocity conditions of the present invention tests the speed Comparative result curve graph.
Wherein, 1- tests the speed carousel supports seat, and 2- tests the speed turntable, 3- magnet steel, 4- Hall sensor, the support of 5- Hall sensor
Bar.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment
The present embodiment provides a kind of agricultural machinery working travel speed detection systems, as shown in Figure 1, including that velocity sensor combines
Unit, single chip computer measurement unit and portable computer,
The velocity sensor assembled unit includes GPS speed measuring module and Hall sensor speed measuring module, GPS speed measuring module
Using GPS positioning signal measurement agricultural machinery longitudinal direction ground speed, Hall sensor speed measuring module drives wheel speed by measurement agricultural machinery
And then agricultural machinery working speed is converted to,
The single chip computer measurement unit is used for data acquisition and processing (DAP), and the velocity sensor and single chip computer measurement unit connect
Connect, single chip computer measurement unit connect by data line with portable computer, the portable computer for data preservation with
Data analysis.
As shown in Fig. 2, the Hall sensor speed measuring module include test the speed turntable 2, the carousel supports that test the speed seat 1, magnet steel 3,
Hall sensor 4, Hall sensor support rod 5, the turntable 2 that tests the speed are connect with agricultural machinery driving wheel by chain conveyer mode, and
It is mounted on and tests the speed on carousel supports seat 1, the carousel supports that test the speed seat 1 is connect with Hall sensor support rod 5, Hall sensor support
Hall sensor 4 is installed, the magnet steel 3, which is evenly distributed on, to test the speed on turntable 2, the sensitive surface pair of the Hall sensor 4 on bar 5
The magnetic pole of quasi- magnet steel 3, the turntable 2 that tests the speed drive magnet steel 3 to rotate, 4 acquisition pulse signal of Hall sensor.
In the present embodiment, the single chip computer measurement unit includes data acquisition module, data sliding average treatment module
And Kalman filter, the data acquisition module are used to acquire the measurement of GPS speed measuring module and Hall sensor speed measuring module
Data, the data sliding average treatment module obtain new filtering knot for doing moving average filter operation to measurement data
Fruit, the Kalman filter is for being estimated and being corrected to the deviation of measurement data.
In the present embodiment, the antenna of GPS speed measuring module is mounted on the center line at the top of agricultural machinery driver's cabin, and GPS tests the speed
Module uses Ublox GPS module；The magnet steel of Hall sensor speed measuring module is fixed on driving wheel hub or rotates with driving
On the rotary body of rapid-result linear relationship, by measuring the period of Hall sensor pulse signal, it is converted into driving wheel speed, and tie
It closes driving wheel diameter and is converted into ground speed；Single chip computer measurement unit uses STM32 single chip computer measurement unit, and data line uses
USB-RS232 data line and portable computer establish connection；The velocity sensor assembled unit is mounted on agricultural machinery rear end
Rack on, then carry out Dynamic Data Acquiring and data processing with STM32 single-chip microcontroller, processing frequency is 1Hz；Data acquisition
Module, data sliding average treatment module and Kalman filter are using 4 programming tool of Keil in Windows XP operating system
Lower exploitation is completed.
The present embodiment also provides a kind of agricultural machinery working running speed detecting method, as shown in figure 3, specific steps are as follows:
S1:GPS speed measuring module measures agricultural machinery longitudinal direction ground speed data, and wherein GPS speed measuring module uses Ublox GPS mould
Block measures agricultural machinery ground speed information, includes GPVTG type, the lattice of the type data packet in 0183 data packet of NMEA of output
Formula is as follows:
$ GPVTG, T, M, 0.00, N, 0.00, K*4E,
Wherein, $ GPVTG indicates the type of data packet, and the field after $ GPVTG is the course angle relative to geographic north, single
Position is degree；T indicates geographic north, is the meaning in geographical north, and the field after $ GPVTG is the course angle relative to magnetic north, and unit is
Degree；M indicates magnetic north, is GPS ground speed after M, and unit is section；N indicates speed unit section, and the speed of 1 section is per hour 1
In the sea, the field after N is GPS ground speed, unit Km/h；K indicates speed unit Km/h；* 4E indicates the data packet
Exclusive or check and, change with the variation of packet content,
The ground speed field that STM32 SCM program is Km/h by the linear module in interception $ GPVTG data packet,
Resolve the ground speed v for obtaining agricultural machineryg；
S2: Hall sensor speed measuring module measures agricultural machinery and drives wheel speed, and by driving wheel diameter to convert to obtain agricultural machinery
Operating speed；
The rotary motion of rear wheel driving axle is transmitted to by the transmission ratio of 1:1 using chain conveyer mode and is fixed on farm machinery chassis
Test the speed on turntable, the magnet steel for generating magnetic field, which is uniformly fixed on, to test the speed on turntable, shares 8, as shown in Figure 2.A44E is selected to open
Pass type Hall sensor, when its magnetosensitive sense chip is close to some magnet steel of alignment, sensor exports high level；When magnetosensitive sense chip
When far from the magnet steel, sensor input low level.When the turntable that tests the speed is rotated with driving wheel, Hall sensor exports variable period
Pulse signal.
The pulse signal of sensor output after signal conditioning circuit is handled, draw by the external interrupt for introducing STM32 single-chip microcontroller
Foot measures the time interval Δ T of two pulse signals using the timer of STM32 single-chip microcontroller, and in the time interval, wheel is turned over
1/8 week, corresponding operating range was π D/8, and wherein D is driving wheel diameter, unit m.Then Hall sensor tests the speed vh(unit
Be scaled Km/h) calculation formula are as follows:
vh=3.6 π D/ Δ T/8；
S3: the data that single chip computer measurement unit respectively obtains GPS speed measuring module and Hall sensor speed measuring module measurement
Moving average filter processing is carried out, to filter out the high-frequency noise in test data,
The method of moving average filter is: the N number of sampled value continuously obtained being regarded as a queue, the length of queue is fixed
For N, a new data is sampled every time and is put into tail of the queue, and throw away a data (first in first out) of original head of the queue, team
N number of data in column carry out arithmetic average operation, obtain new filter result.
S4: it is poor that moving average filter treated GPS speed measuring module speed data and Hall measurement data are made, and obtains
Measurement updaue value of the difference as Kalman filter；
S5:Kalman filter carries out real-time estimation to the system deviation of Hall sensor speed measuring module；
Agricultural machinery can be generated between tire and soft or wet and slippery agricultural land soil surface and be trackslipped in operation process,
Hall, which tests the speed, is converted to ground speed by wheel speed, often there is certain deviation, and gradual feature is presented in the deviation.Accordingly
Kalman filter is established, and its calculation formula of recursion is as follows:
Wherein, xkFor the Hall velocity-measuring system estimation of deviation value at k moment, xk-1For the Hall velocity-measuring system deviation at k-1 moment
Estimated value,For the Hall velocity-measuring system deflection forecast value at k moment, PkFor the systematic procedure Noise Variance Estimation value at k moment,
Pk-1For the systematic procedure Noise Variance Estimation value at k-1 moment,For the systematic procedure noise variance predicted value at k moment, Q is to be
System process-noise variance empirical value, R are systematic survey noise variance empirical value, KkFor the gain weight at k moment, zkIt is sliding for the k moment
The difference of GPS velocity data and Hall measurement data after dynamic average filter, is measurement updaue of the Kalman filter at the k moment
Value.
Formula (1) and formula (2) constitute the predictive equation group of Kalman filter；Formula (3), (4) and (5) is constituted
The correction equation group of Kalman filter.
As shown in figure 4, by Initial state estimation x when Kalman filter works0With initial filter error covariance matrix P0Estimation
It is introduced into the predictive equation group of Kalman filter, starts Kalman filter.First by the formula (1) in predictive equation group to next
Moment state is predicted, then is estimated by the formula (2) in predictive equation group the error variance of the prediction.Prediction process
Terminate, starts the correction course of Kalman filter, gain matrix is first resolved using formula (3), and according to current measurement (needle
To predictive equation group to the prediction result of subsequent time state), it is carried out more using state estimation of the formula (4) to predictive equation group
Newly, current optimal estimation is obtained, the error variance value of current optimal estimation is finally resolved using formula (5), completes primary filtering
Process.
S6: the Hall after the system deviation value obtained after Kalman filter real-time estimation to be superimposed upon to moving average filter
In the data that sensor speed measuring module measures, final speed fusion estimated value is obtained.
In the present embodiment, the quantity of state of the Kalman filter is that the system that Hall sensor speed measuring module tests the speed is inclined
Poor estimated value, measurement amount are moving average filter treated GPS speed measuring module measurement data and Hall sensor speed measuring module
The difference of measurement data.
In the present embodiment, it also provides and real steering vectors and assessment is carried out to the effect that tests the speed, the following are test cases:
Select paddy field test environment, pilot steering rice transplanter respectively with scheduled forward speed 3Km/h, 4Km/h, 5Km/h,
6Km/h walking 100m measures rice transplanter traveling average speed using the method for artificial manual time-keeping, while using aforementioned operation speed
It spends detection system and data sampling and processing and preservation is carried out to GPS module and Hall sensor by the working frequency of 1Hz.
In this test case, the N value of the moving average filter of GPS velocity data and Hall measurement data is 5；Hall is surveyed
Speed system estimation of deviation value xkInitial value be set as x0=0；Systematic procedure Noise Variance Estimation value PkInitial value be set as P0
=0；Systematic procedure noise variance empirical value Q=0.001；Systematic survey noise variance empirical value R=0.1.
Each one group of the measured data under 4 kinds of velocity conditions is selected to carry out analysis assessment.
Using Matlab Software on Drawing measured data and filtering data curve graph, Fig. 5, Fig. 6, Fig. 7, Fig. 8 are obtained.From figure
As can be seen that rate curve is all more smooth compared with GPS and Hall rate curve after filtering and closer measures with artificial stopwatch
The speed mean value arrived.In the rice transplanter starting stage, Kalman filter is slightly worse to the adaptability of acceleration mode, and filtering speed is relatively joined
It is larger to examine velocity error, but after admission velocity stable state, filtering speed curve moves closer to reference velocity and tends towards stability, and shows
Good stability and accuracy are shown.
According to rate curve, the data for therefrom intercepting steady-state process are for statistical analysis, obtain data analytical table, such as following table
Shown in 1:
The filtering of table 1 front and back measurement data (Km/h) statistical result
As it can be seen from table 1 filtering after speed data standard deviation compared with GPS and Hall speed data have it is a degree of
Reduce, the mean value of speed data is compared with GPS and Hall speed data closer to reference speed value after filtering.Although in 6Km/h speed
Under the conditions of when testing, the mean value that GPS tests the speed tests the speed compared to filtering closer to speed reference, but its standard deviation tests the speed number than filtering
According to 1 times big, overall performance still tests the speed effect not as good as filtering.
It is above-mentioned analysis shows, the fused filtering speed-measuring method proposed by the present invention based on GPS and Hall sensor is identifying
It is effective in terms of the system deviation that Hall sensor tests the speed；It is also feasible in terms of improving rate accuracy.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of agricultural machinery working travel speed detection system, which is characterized in that including velocity sensor assembled unit and single-chip microcontroller
Measuring unit, the velocity sensor are connect with single chip computer measurement unit, the single chip computer measurement unit for data acquisition and
Processing,
The velocity sensor assembled unit includes GPS speed measuring module and Hall sensor speed measuring module, the GPS speed measuring module
Agricultural machinery longitudinal direction ground speed is measured using GPS signal, the Hall sensor speed measuring module is for measuring agricultural machinery driving wheel speed
And agricultural machinery working travel speed is converted to,
The single chip computer measurement unit includes data acquisition module, data sliding average treatment module and Kalman filter, institute
Data acquisition module is stated for acquiring the measurement data of GPS speed measuring module and Hall sensor speed measuring module, the data sliding
Average treatment module obtains new filter result, the Kalman filter for doing moving average filter operation to measurement data
Device is used to estimate the deviation of the measurement data of Hall sensor speed measuring module and be corrected.
2. agricultural machinery working travel speed detection system according to claim 1, which is characterized in that the Hall sensor tests the speed
Module includes test the speed turntable, the carousel supports that test the speed seat, magnet steel, Hall sensor, Hall sensor support rod, the turntable that tests the speed
It is connect with agricultural machinery driving wheel by chain conveyer mode, and is mounted on and tests the speed on carousel supports seat, the carousel supports that test the speed seat and Hall
Sensor support bar connects, and installs Hall sensor on Hall sensor support rod, the magnet steel is evenly distributed on the turntable that tests the speed
On, the magnetic pole of the sensitive surface alignment magnet steel of the Hall sensor, the driven by rotary disc magnet steel that tests the speed rotation, Hall sensor acquisition arteries and veins
Rush signal.
3. a kind of agricultural machinery working running speed detecting method, which is characterized in that it is described that specific step is as follows:
GPS speed measuring module measures agricultural machinery longitudinal direction ground speed vg；
Hall sensor speed measuring module measures agricultural machinery and drives wheel speed, and converts and obtain agricultural machinery working speed vh；
Ground speed v is measured to GPSgAgricultural machinery working speed v is measured with Hall sensor speed measuring modulehSliding average is carried out respectively
Filtering processing；
It is poor that moving average filter treated ground speed and agricultural machinery working speed are made, and obtained difference is as Kalman filter
The measurement updaue value of device；
Kalman filter carries out real-time estimation to the system deviation of Hall sensor speed measuring module；
The system deviation value obtained after Kalman filter real-time estimation is superimposed upon agricultural machinery working speed vhThrough moving average filter
In data that treated, final velocity estimation value is obtained.
4. agricultural machinery working running speed detecting method according to claim 3, which is characterized in that the Kalman filter
Quantity of state be the registration error estimation value that tests the speed of Hall sensor speed measuring module, measurement amount is that treated for moving average filter
The difference of GPS speed measuring module speed measurement data and Hall sensor speed measuring module measurement data.
5. agricultural machinery working running speed detecting method according to claim 3, which is characterized in that the GPS speed measuring module
The format of the agricultural machinery ground speed data measured are as follows:
$ GPVTG, T, M, 0.00, N, 0.00, K*4E,
Wherein, $ GPVTG indicates the type of data packet, and the field after $ GPVTG is the course angle relative to geographic north, and unit is
Degree；T indicates geographic north, is the meaning in geographical north, and the field after $ GPVTG is the course angle relative to magnetic north, and unit is degree；M table
Show magnetic north, be GPS ground speed after M, unit is section；N indicates speed unit section, and the speed of 1 section is 1 nautical mile per hour,
Field after N is GPS ground speed, unit Km/h；K indicates speed unit Km/h；* 4E indicates the exclusive or school of the data packet
It tests and changes with the variation of packet content；
The ground speed field that single chip computer measurement unit is Km/h by the linear module in interception $ GPVTG data packet, obtains agriculture
The GPS ground speed v of machineg。
6. agricultural machinery working running speed detecting method according to claim 3, which is characterized in that the Hall sensor is surveyed
The agricultural machinery working speed v that fast module measureshCalculation formula are as follows:
vh=3.6 π D/ Δ T/8,
Wherein, vhUnit be Km/h, Δ T be two pulse signals of single chip computer measurement unit time interval, π D/8 indicate when
Between in interval delta T, wheel turns over 1/8 week corresponding operating range, and D is driving wheel diameter, unit m.
7. agricultural machinery working running speed detecting method according to claim 3, which is characterized in that described to be measured pair to GPS
Ground speed vgAgricultural machinery working speed v is measured with Hall sensorhComprising the concrete steps that for moving average filter processing is carried out respectively:
The N number of sampled value continuously obtained is set as a queue, and the length of queue is fixed as N, samples a new data every time and is put into team
Tail, and remove a data of former head of the queue, N number of data in queue are carried out arithmetic average operation, obtain new filter result.
8. agricultural machinery working running speed detecting method according to claim 3, which is characterized in that the Kalman filter
Calculation formula it is described in detail below:
Wherein, xkFor the Hall velocity-measuring system estimation of deviation value at k moment, xk-1For the Hall velocity-measuring system estimation of deviation at k-1 moment
Value,For the Hall velocity-measuring system deflection forecast value at k moment, PkFor the systematic procedure Noise Variance Estimation value at k moment, Pk-1For
The systematic procedure Noise Variance Estimation value at k-1 moment,For the systematic procedure noise variance predicted value at k moment, Q is system mistake
Journey noise variance empirical value, R are systematic survey noise variance empirical value, KkFor the gain weight at k moment, zkIt is slided for the k moment flat
The difference of filtered GPS velocity data and Hall measurement data is measurement updaue value of the Kalman filter at the k moment,
Formula (1) and formula (2) constitute the predictive equation group of Kalman filter；Formula (3), formula (4) and formula (5) are constituted
The correction equation group of Kalman filter.
9. agricultural machinery working running speed detecting method according to claim 8, which is characterized in that the Kalman filter
The system deviation of Hall sensor speed measuring module is carried out by real-time estimation specific step is as follows is described:
By Initial state estimation x0P is estimated with initial filter error covariance matrix0Introduce the public affairs of the predictive equation group of Kalman filter
In formula (1) and formula (2),
Start Kalman filter, subsequent time state is predicted by the formula (1) in predictive equation group, then by prediction side
The formula (2) of Cheng Zuzhong estimates the error variance of prediction,
Prediction process terminates, and starts the correction course of Kalman filter, resolves gain matrix using formula (3), and combine prediction
Equation group is updated the prediction result of subsequent time state using formula (4) to the state estimation of predictive equation group, obtains
Current optimal estimation,
The error variance value of current optimal estimation is resolved using formula (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910222716.9A CN109900296A (en) | 2019-03-22 | 2019-03-22 | A kind of agricultural machinery working travel speed detection system and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910222716.9A CN109900296A (en) | 2019-03-22 | 2019-03-22 | A kind of agricultural machinery working travel speed detection system and detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109900296A true CN109900296A (en) | 2019-06-18 |
Family
ID=66953833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910222716.9A Pending CN109900296A (en) | 2019-03-22 | 2019-03-22 | A kind of agricultural machinery working travel speed detection system and detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109900296A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308300A (en) * | 2019-06-27 | 2019-10-08 | 厦门盈趣科技股份有限公司 | A kind of rotating speed measurement method and device merging multifrequency nature data |
| CN111060096A (en) * | 2019-12-27 | 2020-04-24 | 武汉迈普时空导航科技有限公司 | Data processing method and system of MEMS-IMU module combined odometer |
| CN111373908A (en) * | 2020-04-27 | 2020-07-07 | 江苏海洋大学 | Control system and method for realizing precision seeding and fertilizing by using Beidou navigation satellite system |
| CN115291203A (en) * | 2022-10-08 | 2022-11-04 | 济南嘉宏科技有限责任公司 | Speed processing method of mine speed measuring radar |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101638135A (en) * | 2009-09-02 | 2010-02-03 | 苏州工业园区同盛车业有限公司 | Speed and leg power sensing device of electric bicycle |
| CN201501504U (en) * | 2009-09-02 | 2010-06-09 | 苏州工业园区同盛车业有限公司 | Device for sensing speed and pedal force |
| CN103674024A (en) * | 2013-11-28 | 2014-03-26 | 卡斯柯信号有限公司 | Combined train positioning system based on Doppler radar and coded milemeter |
| CN104360366A (en) * | 2014-11-05 | 2015-02-18 | 中国科学院嘉兴微电子与系统工程中心 | Dead reckoning and GPS (global positioning system) combined positioning method |
| CN104773190A (en) * | 2015-03-03 | 2015-07-15 | 南车青岛四方机车车辆股份有限公司 | Auxiliary traction control system for train |
| CN104800048A (en) * | 2015-05-19 | 2015-07-29 | 安阳市翔宇医疗设备有限责任公司 | Resistance-adjustable four-limb linkage rehabilitation training machine |
| CN105424041A (en) * | 2016-01-18 | 2016-03-23 | 重庆邮电大学 | Pedestrian positioning algorithm based on BD/INS (Beidou/Inertial Navigation System) tight coupling |
| CN105628026A (en) * | 2016-03-04 | 2016-06-01 | 深圳大学 | Positioning and posture determining method and system of mobile object |
| CN106041925A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | System for measuring advancing distance of pipeline robot |
| CN107944467A (en) * | 2017-10-26 | 2018-04-20 | 东北电力大学 | A kind of vehicle-mounted MIMUs/GPS information fusion methods and system of Adaboost optimizations |
| CN108226980A (en) * | 2017-12-23 | 2018-06-29 | 北京卫星信息工程研究所 | Difference GNSS and the adaptive close coupling air navigation aids of INS based on Inertial Measurement Unit |
| CN109101019A (en) * | 2018-07-31 | 2018-12-28 | 安徽灵翔智能机器人技术有限公司 | A method of based on the determination intelligent grass-removing walking position of information fusion |
| CN109258059A (en) * | 2018-07-17 | 2019-01-25 | 南京航空航天大学 | A kind of grass trimmer method for determining position and device |
| CN109470251A (en) * | 2018-12-21 | 2019-03-15 | 陕西航天时代导航设备有限公司 | A kind of partial feedback filtering method in integrated navigation system |
-
2019
- 2019-03-22 CN CN201910222716.9A patent/CN109900296A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101638135A (en) * | 2009-09-02 | 2010-02-03 | 苏州工业园区同盛车业有限公司 | Speed and leg power sensing device of electric bicycle |
| CN201501504U (en) * | 2009-09-02 | 2010-06-09 | 苏州工业园区同盛车业有限公司 | Device for sensing speed and pedal force |
| CN103674024A (en) * | 2013-11-28 | 2014-03-26 | 卡斯柯信号有限公司 | Combined train positioning system based on Doppler radar and coded milemeter |
| CN104360366A (en) * | 2014-11-05 | 2015-02-18 | 中国科学院嘉兴微电子与系统工程中心 | Dead reckoning and GPS (global positioning system) combined positioning method |
| CN104773190A (en) * | 2015-03-03 | 2015-07-15 | 南车青岛四方机车车辆股份有限公司 | Auxiliary traction control system for train |
| CN104800048A (en) * | 2015-05-19 | 2015-07-29 | 安阳市翔宇医疗设备有限责任公司 | Resistance-adjustable four-limb linkage rehabilitation training machine |
| CN105424041A (en) * | 2016-01-18 | 2016-03-23 | 重庆邮电大学 | Pedestrian positioning algorithm based on BD/INS (Beidou/Inertial Navigation System) tight coupling |
| CN105628026A (en) * | 2016-03-04 | 2016-06-01 | 深圳大学 | Positioning and posture determining method and system of mobile object |
| CN106041925A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | System for measuring advancing distance of pipeline robot |
| CN107944467A (en) * | 2017-10-26 | 2018-04-20 | 东北电力大学 | A kind of vehicle-mounted MIMUs/GPS information fusion methods and system of Adaboost optimizations |
| CN108226980A (en) * | 2017-12-23 | 2018-06-29 | 北京卫星信息工程研究所 | Difference GNSS and the adaptive close coupling air navigation aids of INS based on Inertial Measurement Unit |
| CN109258059A (en) * | 2018-07-17 | 2019-01-25 | 南京航空航天大学 | A kind of grass trimmer method for determining position and device |
| CN109101019A (en) * | 2018-07-31 | 2018-12-28 | 安徽灵翔智能机器人技术有限公司 | A method of based on the determination intelligent grass-removing walking position of information fusion |
| CN109470251A (en) * | 2018-12-21 | 2019-03-15 | 陕西航天时代导航设备有限公司 | A kind of partial feedback filtering method in integrated navigation system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308300A (en) * | 2019-06-27 | 2019-10-08 | 厦门盈趣科技股份有限公司 | A kind of rotating speed measurement method and device merging multifrequency nature data |
| CN111060096A (en) * | 2019-12-27 | 2020-04-24 | 武汉迈普时空导航科技有限公司 | Data processing method and system of MEMS-IMU module combined odometer |
| CN111373908A (en) * | 2020-04-27 | 2020-07-07 | 江苏海洋大学 | Control system and method for realizing precision seeding and fertilizing by using Beidou navigation satellite system |
| CN115291203A (en) * | 2022-10-08 | 2022-11-04 | 济南嘉宏科技有限责任公司 | Speed processing method of mine speed measuring radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109900296A (en) | A kind of agricultural machinery working travel speed detection system and detection method | |
| CN109343095B (en) | Vehicle-mounted navigation vehicle combined positioning device and combined positioning method thereof | |
| CN102662083A (en) | Accelerometer calibration method based on GPS velocity information | |
| CN102313535B (en) | Slope detection method | |
| Keskin et al. | Performance of two low-cost GPS receivers for ground speed measurement under varying speed conditions | |
| FR2886020A1 (en) | SPEED ESTIMATING SYSTEM OF AN AIRCRAFT AND ITS APPLICATION TO DETECTION OF OBSTACLES | |
| IL264245B1 (en) | Mileage and speed estimation | |
| CN109001488A (en) | A kind of detection method and detection system of the stationary motion of vehicle location monitoring | |
| CN104197958B (en) | Speedometer calibration method based on laser velocimeter dead reckoning system | |
| CN108345021A (en) | A kind of Doppler radar assistant GPS/INS vehicle speed measuring methods | |
| CN107490378A (en) | A kind of indoor positioning based on MPU6050 and smart mobile phone and the method for navigation | |
| CN110095793A (en) | A kind of automatic Pilot low speed sweeper localization method adaptive based on tire radius | |
| CN202024728U (en) | Measuring system for farmland operation area | |
| CN109781096A (en) | A kind of integrated navigation and location system and method for intelligent agricultural machinery | |
| CN110426011A (en) | Vehicular turn angle measuring system and method | |
| CN108548535A (en) | The initial method of low speed GNSS/MEMS integrated navigation systems | |
| CN108663036B (en) | Method for tracking rotation of front wheel of vehicle | |
| US11276255B2 (en) | Mileage and speed estimation | |
| CN104155669B (en) | The deep combination implementing method of receiver based on Beidou II satellite navigation system | |
| Guo et al. | A low-cost integrated positioning system of GPS and inertial sensors for autonomous agricultural vehicles | |
| Keskin et al. | An overview of GNSS and GPS based velocity measurement in comparison to other techniques | |
| CN101118160A (en) | Low accuracy piezoelectric gyroscope zero-bias real-time estimation compensation process | |
| CN203786905U (en) | Indoor vehicle moving information acquisition apparatus | |
| RU184333U1 (en) | DEVICE FOR MEASURING A TOWING OF AGRICULTURAL TRACTORS | |
| CN106595655A (en) | Double-satellite integrated positioning method based on inertial sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190618 |
|
| WD01 | Invention patent application deemed withdrawn after publication |