摘要
为了提高农用智能移动平台导航定位的精度,改善航线跟踪的质量,提出了一种基于地图匹配的导航定位数据模糊校正算法.首先将DGPS、航位推算定位数据点与地图上已知航线进行对比,判定定位数据点的可信度,然后用该可信度作为加权值生成新的定位数据点即校正数据点,把校正点作为当前农用智能移动平台车体真实位置的估计值.在验证试验中,定位数据经模糊校正后其精度明显优于原始DGPS数据的精度,定位数据的距离均方根差均数从校正前的1.021 m提高到校正后的0.568 m.试验结果表明,该方法可以在一定程度上提高定位数据的精度,校正大部分可信度低的坏点.
In order to improve the positioning accuracy of navigation control for the intelligent farming chassis, a map-matching-based algorithm of fuzzy correction for positioning data was developed. According to the cross deviation from the baseline that measured by DGPS and DR（ dead reckoning） , a weighted value of the DGPS was obtained and the new corrected position could be created. To evaluate the proposed algorithm, validation tests were performed using a rice transplant machine （SPU -68 ） that has been refitted in order to adapt to the experiment. Under several different speeds, the kinematical tests of the fuzzy correction algorithm for positioning data were fulfilled. The test results showed that the positioning accuracy （distance root mean square error） was significantly improved from 1. 021 m to 0. 568 m. The evaluation result showed that the proposed algorithm could be effectively used to improve the positioning accuracy.
出处
《江苏大学学报（自然科学版）》
EI
CAS
北大核心
2006年第5期396-400,共5页
Journal of Jiangsu University：Natural Science Edition
基金
国家自然科学基金资助项目(60574029)
广东省农业攻关项目(2004B20701001)
关键词
GIS
智能化农用机械
导航控制
地图匹配
模糊决策
GIS
intelligent agricultural machine
navigation control
map matching
fuzzy decision
