Automatic tilling depth calibration method and device based on distributed inertial measurement

The invention discloses an automatic tilling depth calibration method and device based on distributed inertial measurement, and the method comprises the steps: synchronously obtaining the posture states and variations of a tractor and a plough through distributed inertial measurement, and achieving the automatic calibration of a tilling depth measurement model through a neural network, the tilling depth of the plough is detected based on the calibrated tilling depth measurement model; the calibration device comprises two MEMS-IMUs, a double-antenna RTK receiver, a power management module, a signal acquisition and processing module, a DSP, a microcontroller and a wireless transmission module. According to the calibration method, automatic calibration of the tilling depth measurement model is achieved through the neural network, plough tilling depth measurement errors caused by position and posture changes and sinking of the tractor are compensated, the calibrated tilling depth measurement model is directly use