| 多传感器融合定位控制系统设计 |
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| 引用本文： | 罗亚辉,蒋蘋,胡文武.多传感器融合定位控制系统设计[J].湖南文理学院学报(自然科学版),2012(1):42-45. |
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| 作者姓名： | 罗亚辉 蒋蘋 胡文武 |
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| 作者单位： | 湖南农业大学工学院 |
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| 基金项目： | 湖南省自然科学基金(09JJ6091);湖南农业大学校青年基金(09QN20) |
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| 摘 要： | 为实现水田作业机械的精确定位,在惯性传感器定位的基础上,设计了一套基于激光的多传感器融合定位系统.该系统以激光、陀螺仪与编码盘等传感器模块为硬件基础,结合卡尔曼滤波算法实现了多传感器的数据融合.试验结果表明:在50 m×50 m的测试范围内,静态定位误差小于10 cm,系统定位可靠,精度较高,达到了预期研究目标.
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| 关 键 词： | 惯性传感器 激光 多传感器融合 定位 控制系统 |
The design of multi-sensor fusion location controlling system |
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| LUO Ya-hui,JIANG Ping,HU Wen-wu.The design of multi-sensor fusion location controlling system[J].Journal of Hunan University of Arts and Science:Natural Science Edition,2012(1):42-45. |
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| Authors: | LUO Ya-hui JIANG Ping HU Wen-wu |
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| Institution: | (College of Engineering,Hunan Agricultral University,Changsha 410128,China) |
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| Abstract: | To realize the precise location of muddy field working machine,a multi-sensor fusion location controlling system based on laser was designed on the base of inertial sensor location.The system which based on laser,gyroscope and encoder has realized the multi-sensor fusion with the combination of Kalman filtering algorithm.The result shows that the error of static location is less than 10 cm in the measurement of 50 m×50 m.The system has achieved the expected target with such reliable location and high precision. |
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| Keywords: | inertial sensors laser multi-sensor fusion location controlling system |
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