Method and device for measuring steering angle of agricultural machine by single-antenna GNSS (global navigation satellite system)-assisted gyroscope

The invention provides an agricultural machine steering angle measurement method and device of a single-antenna GNSS auxiliary gyroscope, and the measurement method comprises the steps: calculating an expected steering angle of an agricultural machine based on the change rate of the course angle of the agricultural machine and the operation speed; kalman filtering updating is carried out according to the expected steering angle at the moment k and the steering angle originally measured and calculated by the gyroscope, and the measurement bias bg, k of the gyroscope and the steering angle measurement error delta theta k at the moment k are estimated; subtracting the change rate of the course angle of the agricultural machine from the output angular rate omega k of the gyroscope in the filtering period delta t, and integrating to obtain a steering angle calculated by the gyroscope after compensation; the steering angle calculated by the gyroscope after compensation and the delta theta k are utilized to obtain t