无人驾驶拖拉机控制系统设计分析.pdfVIP

单向阀也叫安全阀、油缸等)，并加装司南公司自主研发的GNSS 接收机，以及北京 世纪铭创的 MCGJ100A38CHF 型角度传感器，搭建一个硬件模拟平台，完全模拟拖 拉机的运行，分别作了30m 短距离和200m 长距离实验来验证导航算法的精确度、所 编程序的可行性，为后续算法程序的完善和项目的深入研究奠定基础。 实验测试结果表明，该智能农机导航系统能够完成基本作业需求，200m 直线跟 踪平均横向误差控制在6cm 之内，运行效果良好，具有很好的工程应用价值。 关键词: 全球定位系统，自动导航，智能农机，软件系统 II DESIGN AND RESEARCH OF UNMANED TRACTOR AUTOMATIC NAVIGATION CONTROL SYSTEM ABSTRACT To reform traditional agriculture by using high and new technology, improve the yield and quality of agriculture are of great significance for maintaining food security. This study combines BDS and GPS with traditional agricultural machine, developed the intelligent agricultural machine, which owned the independent intellectual property rights, and break the situation of foreign monopoly. The studying of intelligent agricultural machine control system is on the basis of the requirement of the enterprises, and according to the basic components of software and hardware, which including the basic functions of positioning, navigation, AB line setting, mode transformation, human-computer interaction software storage, etc. Gives the overall design of the hardware and software for the intelligent agricultural machine control system based on the high precision of GPS, GLONASS and BDS which were researched and developed by Sinan satellite navigation technology co., LTD. Based on the processor of Samsung S3C2440, combined with Linux embedded system, doing secondary development but does not change the original structure of the tractor. By installing the hydraulic system, angle sensor and other equipment on the tractor, using model car drive on the line to verify the feasib ility of the navigation system. Complete AB line setting and programming. Finally, doing testing experiment