Title: A Study on Tracking the Attitude of Agricultural Machineries Based on Tightly-coupled GNSS/AHRS
Author(s): Deng Hai-feng, Li ChengGang, Pan GuoFu, Shi XiaoYu
Published in: Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
September 12 - 16, 2016
Oregon Convention Center
Portland, Oregon
Pages: 1138 - 1152
Cite this article: Hai-feng, Deng, ChengGang, Li, GuoFu, Pan, XiaoYu, Shi, "A Study on Tracking the Attitude of Agricultural Machineries Based on Tightly-coupled GNSS/AHRS," Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 1138-1152.
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Abstract: With the rapid development of MEMS technique and manufacturing technology, the Attitude Heading Reference System (AHRS) based on Micro-electromechanical Systems Inertia Measure Unit (MEMSIMU) has gained more and more popularity in civil field, for example, the small unmanned aircraft, wearable devices and precision agriculture system and so on. But, because of the noise of MEMSIMU and the influence of vehicle’s dynamics, the precision of vehicle’s attitude given by AHRS can’t meet the requirements of precision agriculture system, aiming at providing effective attitude information for the agricultural machineries, the high-precision and reliable positional information given by Global Navigation Satellite System (GNSS) has been used to revise the attitude calculated by AHRS and estimate the compensate parameters of MEMSIMU online. By using the BMI160 sensor module and Hi-Target V30 GNSS receiver, and using Trimble APX15’s solution as reference, the testing experiments are provide to compare the performance of the conventional single AHRS algorithm and the Tightly-coupled GNSS/AHRS EKF fusion algorithm, the experimental results show that the proposed GNSS/AHRS EKF fusion algorithm can effectively inhibit the accumulation of the angular error and achieve state attitude output.