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...

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Hauptverfasser:	CHEN JIAXUAN, DU ZHUOWEN, CUI BINGBO, WEI XINHUA, ZHU YONGYUN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PHYSICS TESTING
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creator	CHEN JIAXUAN DU ZHUOWEN CUI BINGBO WEI XINHUA ZHU YONGYUN
description	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
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DU ZHUOWEN ; CUI BINGBO ; WEI XINHUA ; ZHU YONGYUN</creatorcontrib><description>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</description><language>chi ; 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subjects	MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PHYSICS TESTING
title	Method and device for measuring steering angle of agricultural machine by single-antenna GNSS (global navigation satellite system)-assisted gyroscope
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