-
1.发明公开
公开(公告)号：EP3364153A1
公开(公告)日：2018-08-22
申请号：EP16854770.1
申请日：2016-07-04
发明人： REN, Qiang , WANG, Jiejun , DAI, Wending , CAO, Guangjie , DONG, Guangyang , TU, Rui
IPC分类号： G01C21/00
CPC分类号： G01C23/00 , A01B69/008 , A01B79/005 , G01C19/00 , G01C21/165 , G01C25/00 , G01C25/005
摘要： 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.
-
公开(公告)号：EP3396316A1
公开(公告)日：2018-10-31
申请号：EP16877247.3
申请日：2016-07-04
发明人： SHEN, Xuefeng , CHE, Xianghui , REN, Qiang , CAO, Guangjie , DONG, Guangyang , TU, Rui
IPC分类号： G01C21/16
摘要： 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. By means of a combination of the single antenna GNSS and the IMU/MEMS sensor with a low cost, the attitude and direction are determined based on the kinematics model of the agricultural 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 which occurs when using the gyroscope and reduce the noise level of the GNSS attitude determination. Hence, the accuracy of the attitude determination can be increased several times.
-
3.发明公开
公开(公告)号：EP3376055A1
公开(公告)日：2018-09-19
申请号：EP16863408.7
申请日：2016-07-04
发明人： CAO, Guangjie , ZHAO, Yanping , DAI, Wending , WANG, Anbang , GAO, Xiaohan , MAO, Xunye , CHEN, Kai
IPC分类号： F15B13/06
CPC分类号： F15B13/0401 , A01B69/008 , B62D5/06 , B62D5/062 , F15B1/26 , F15B11/08 , F15B13/028 , F15B2211/305 , F15B2211/50 , F16K15/025
摘要： Disclosed is a hydraulic control valve assembly of automatic steering system for agricultural machine including a proportional directional valve (3). A balancing valve (1) is arranged between the proportional directional valve (3) and the steering cylinder. A first shuttle valve (2) is arranged between the proportional directional valve (3) and the balancing valve (1). The first shuttle valve (2) is positioned on one side of the proportional directional valve (3). An overflow valve (4) is positioned on another side of the proportional directional valve (3). The overflow valve (4) is connected to a second shuttle valve (6) and a logic valve (5) respectively. The hydraulic control valve assembly has a large control power, a rapid response, and is more suitable for the autonomous navigation operation of agricultural machine. Moreover, the system saves more energy, such that the autonomous navigation operation of agricultural machine is more stable.
-
公开(公告)号：EP3364153B1
公开(公告)日：2020-11-25
申请号：EP16854770.1
申请日：2016-07-04
发明人： REN, Qiang , WANG, Jiejun , DAI, Wending , CAO, Guangjie , DONG, Guangyang , TU, Rui
-
公开(公告)号：EP3396316B1
公开(公告)日：2020-09-30
申请号：EP16877247.3
申请日：2016-07-04
发明人： SHEN, Xuefeng , CHE, Xianghui , REN, Qiang , CAO, Guangjie , DONG, Guangyang , TU, Rui
-
-
-
-
搜索结果
5 条记录 (耗时 0.01 秒)
