Paddy field hard bottom layer morphology testing method and system based on power chassis IMU integral

The invention discloses a paddy field hard bottom layer morphology testing method and system based on power chassis IMU integration, and relates to the field of agricultural machinery equipment. The method is obtained through driving parameters of a vehicle body on a paddy field, and comprises the following steps: setting a test path of the vehicle body, establishing a reference coordinate system based on a vehicle body structure, and measuring physical parameters of the vehicle body during driving, at least including pitch angle variation of the vehicle body and acceleration a along the driving direction; taking the included angle between the bottom surface of the power chassis and the xy plane as the pitch angle based on the pitch angle variation, the acceleration a and the sampling interval delta T = Tk-Tk-1, delta Tgt; a pitch angle fitting function is established to calculate the driving displacement variable quantity of the vehicle body, and the height variable quantity corresponding to each sampling in