农业机械导航中的GPS定位误差分析与建

and Modeling of GPS Positioning Error for Navigation of Agricultural Machinery

摘要:

为实现高精度的农业机械导航，分析了GPS定位误差及其相关性，运用时间序列分析方法建立GPS静态和动态定位误差的AR模型，给出了导航过程中的定位误差处理方法，并在自制的农田智能移动平台上进行了实验。结果表明，处理后的GPS定位误差信号的相关性明显下降，接近于白噪声，定位误差均值从

Abstract:

0.1951m下降为-0.0022m。 The GPS positioning error and its correlation were analyzed, and then corresponding static and dynamic error were described as AR model by using time series methods. Finally, the process for dealing with the positioning error in navigation was presented, and the experiment was carried out with self-made agricultural robot. The experimental results showed that the proposed approach improves the positioning precision of GPS, and the correlation within the positioning error is decreased, similar to white noise. The average value of positioning error is reduced to -0.0022m from 0.1951m. So it can be applied to achieve high precision navigation of agricultural machinery.