Method for achieving automatic navigation of vehicle based on self-adaptive filtering algorithm

Abstract

The invention relates to a method for achieving automatic navigation of a vehicle based on a self-adaptive filtering algorithm, comprising the steps of: presetting the filter coefficient of the self-adaptive filtering algorithm of automatic navigation; sampling filtering data in the filtering algorithm; removing shaking sampling points with the sampling data variation direction in this time not accordant with the last time sampling data variation direction; regulating the filter coefficient according to the sampling data in this time and the variation speed of the last time sampling data; performing navigation by the vehicle according to the result of the filtering algorithm. By using the method for achieving automatic navigation of the vehicle based on the self-adaptive filtering algorithm, when the value of an angle sensor varies quickly, the filtering result can follows up in time; when the angle sensor tends to be stable, the filtering result can tend to be stable too; when the method is applied to the unmanned driving of a tractor, the swinging and shaking of the angle signals generated by the unmanned driving of the tractor can be effectively eliminated, the sensor signals of the tractor at the current corner can be accurately reflected, and the wider application range is provided.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to the technical field of navigation algorithms, in particular to a method for realizing automatic vehicle navigation based on an adaptive filtering algorithm. Background technique [0002] The formula of the first-order filtering algorithm of the tractor automatic navigation in the prior art is as follows: [0003] Y(n)=α×X(n)+(1-α)×Y(n-1); [0004] Among them, X(n) is the current sampling value, Y(n-1) is the last filtering result, and Y(n) is the output value of this filtering. α is a filter coefficient, and the present invention is based on RC first-order low-pass filtering. [0005] The disadvantages of automatic navigation based on this algorithm are: [0006] (1) Phase lag, low sensitivity; [0007] (2) The degree of hysteresis depends on the size of the filter coefficient, the parameters are fixed and cannot be adjusted automatically; [0008] (3) Interference signal...

AI Technical Summary

Problems solved by technology

[0006] (1) Phase lag, low sensitivity;

[0007] (2) The degree of hysteresis depends on the size of the filter coefficient, the parameters are fixed and cannot be adjusted automatically;

[0008] (3) Interference signals whose filtering frequency is higher than 1 / 2 of the sampling frequency cannot be eliminated;

[0009] (4) Unable to balance sensitivity and stability perfectly

[0010] Based on above-mentioned shortcoming, still do not exist a kind of satisfactory automatic navigation mode in the tractor in the prior art

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