The invention discloses a multi-sensor
information fusion method based on the GPS for agricultural
machine navigation. The multi-sensor
information fusion method includes the steps that measurement is conducted through a navigation sensor combination, so that the original
latitude, the original
longitude, the original height coordinate and the original advancing speed of an agricultural
machine under the WGS-84 coordinate
system are obtained, and the original roll angle, the original pitching angle, the original
yaw velocity and the advancing-direction accelerated velocity the agricultural
machine are obtained through measurement; the original
latitude, the original
longitude, the original height coordinate under the WGS-84 coordinate
system are converted to be under the NEU earth navigation coordinate
system to obtain an initial navigation positioning position value; the
yaw velocity is converted into a course angle measured value after integration is conducted; the obtained original roll angle, the obtained original pitching angle, the obtained original
yaw velocity, the obtained advancing-direction accelerated velocity the obtained initial navigation positioning position value and the obtained course angle measured value are fused through an improved
kalman filter, so that
accurate estimation of agricultural machine positioning and course angle information is obtained. According to the method, more continuous and more stable agricultural machine navigation data can be formed, and the
estimation of the course angle is accurate.