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Integrated navigation method of crab pond automatic working ship based on information fusion of low-precision GPS, laser ranging sensor and orientation sensor

A azimuth sensor, laser ranging technology, applied in mapping and navigation, navigation, navigation calculation tools and other directions, can solve the problems of large equipment investment, complex heading control algorithm, etc., to avoid collision, improve stability and anti-interference ability Effect

Active Publication Date: 2019-10-08
JIANGSU UNIV
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Problems solved by technology

However, this method requires the accuracy of the navigation system to reach the centimeter level, the investment in equipment is large, and the heading control requires a more complex algorithm.

Method used

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  • Integrated navigation method of crab pond automatic working ship based on information fusion of low-precision GPS, laser ranging sensor and orientation sensor
  • Integrated navigation method of crab pond automatic working ship based on information fusion of low-precision GPS, laser ranging sensor and orientation sensor
  • Integrated navigation method of crab pond automatic working ship based on information fusion of low-precision GPS, laser ranging sensor and orientation sensor

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Embodiment Construction

[0035] Specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0036] The invention proposes a combined navigation method for an automatic operation ship in crab ponds based on information fusion of low-precision GPS, a laser ranging sensor and an azimuth sensor, which is used to realize the navigation of the automatic operation ship in crab ponds. The technical solution adopted by the present invention to solve its technical problems comprises the following steps:

[0037] (j) Plan the target route of the operation ship, the distance L between the target route and the embankment, the target point of the next position and the position information of the turning point through the data of the GPS system, such as figure 1 shown. When the workboat travels to the relevant position, it starts to turn or switch the corresponding track line.

[0038] (k) Determining the current heading angle α of the workboat thr...

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Abstract

The invention discloses an integrated navigation method of a crab pond automatic working ship based on information fusion of a low-precision GPS, a laser ranging sensor and an orientation sensor, thereby realizing navigation of the crab pond automatic working ship. According to the navigation mode of the automatic working ship, an internal spiral path that starts with a certain point, is parallelto the pond embankment and is arranged at a certain travel interval is used. According to the invention, a low-precision GPS system determines the location of an inflection point of a navigation trackand a track course; an orientation sensor determines the motion direction of a current automatic working ship; and a laser ranging sensor determines a distance between the automatic working ship anda near-side pond embankment. On the basis of the distance between the working ship and the pond embankment, certain mathematical calculation is performed by combining a current course angle to obtaina difference between a current course angle and a desired course angle; an angle deviation value is introduced into a paddle wheel motor drive control system; a generated rotating speed difference between left and right paddle wheels is adjusted by a PD control method to realize the course controlling of the working ship, so that the navigation of the crab pond automatic working ship is realized.

Description

technical field [0001] The invention relates to the field of mixed use of navigation and multi-sensors, in particular to a combined navigation method for an automatic operation ship in crab ponds based on information fusion of low-precision GPS, laser ranging sensors and azimuth sensors. Background technique [0002] With the continuous development of the economy, people's living standards have improved significantly, and the market's demand for river crabs has increased year by year. The river crab breeding ponds planted with grass have high labor costs, low operating efficiency, and the level of automation, modernization, and high efficiency is obviously not high. Therefore, an automatic navigation aquaculture workboat is designed. During the navigation process of the workboat, generally only a separate navigation system is used to realize the positioning, course and steering control of the ship. However, this method requires the accuracy of the navigation system to reac...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G01S17/08G01S17/93
CPCG01C21/005G01C21/203G01S17/08G01S17/93
Inventor 赵德安钱梦男秦云孙月平
Owner JIANGSU UNIV
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