Abstract: The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.

Abstract: An automatic calibration method of an angle sensor for an automatic drive control system of a farm machine includes the following steps. S1: fixing a steering wheel of the farm machine to make front wheels of a vehicle kept at a fixed angle. S2: collecting a plurality of pieces of current position information of the farm machine, and processing the plurality of pieces of current position information to obtain an average value. S3: establishing a two-wheel farm machine kinematics model based on a center of a rear axle. S4: performing a radius calculation to obtain a set of angle correspondences. S5: rotating the farm machine by a preset angle at a constant speed with the rear axle of the farm machine as a center, and performing S1 through S4. S6: after performing S5 for several times, performing an angle value fitting calculation to obtain a calibration coefficient.

Abstract: An automatic calibration method of an angle sensor for an automatic drive control system of a farm machine includes the following steps. S1: fixing a steering wheel of the farm machine to make front wheels of a vehicle kept at a fixed angle. S2: collecting a plurality of pieces of current position information of the farm machine, and processing the plurality of pieces of current position information to obtain an average value. S3: establishing a two-wheel farm machine kinematics model based on a center of a rear axle. S4: performing a radius calculation to obtain a set of angle correspondences. S5: rotating the farm machine by a preset angle at a constant speed with the rear axle of the farm machine as a center, and performing S1 through S4. S6: after performing S5 for several times, performing an angle value fitting calculation to obtain a calibration coefficient.

Abstract: The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.

Abstract: A method of updating an all-attitude angle of an agricultural machine based on a nine-axis MEMS sensor includes the following steps: establishing an error model of a gyroscope, an electronic compass calibration ellipse model and a seven-dimensional EKF filtering model, and setting a parameter vector corresponding to a vehicle motional attitude (S1); acquiring data including an acceleration and an angular velocity of a motion of vehicle, and an geomagnetic field intensity in real time (S2); calculating an angle, a velocity, position information, and a course angle of the vehicle by established error model of the gyroscope and the electronic compass calibration ellipse model(S3); data-fusion processing the angle, the velocity, the position information and the course angle of the vehicle by the seven-dimensional EKF filtering model, and updating a motional attitude angle of the vehicle in real time. The steps of the method have a small error, high precision, and reliability.