Design on broadcast depth detection device based on Kalman filter fusion algorithm
A seeding depth measurement device using dual road array radar sensors and Kalman filte-ring fusion algorithm was designed to address the issue of straw residue affecting the effectiveness of see-ding depth detection during the operation of a no-till planter.The surface array radar uses the transit time method to measure the sowing depth,and then uses the Kalman filter fusion algorithm to eliminate noise and clutter in the two-sensor data,and fuses the processed data.Experiments have shown that when the preset sowing depth is 60 mm and the driving speed of the seeder is low speed(4 km/h),me-dium speed(6 km/h),and high speed(8 km/h),the maximum deviation of the sensor measurement distance is 23 mm,34 mm,and 37 mm.After filtering,the errors are 4 mm,7 mm,and 13 mm.After being fused with the Kalman filtering algorithm,it can float within the range of the preset sowing depth of 60 mm.The experiment shows that the detection data after filtering fusion can more accurately detect the sowing depth than a single array radar sensor,and the fluctuation range also increases with the increase of speed.The reason may be related to the increased fluctuation of the seeder on uneven ground when the vehicle speed increases.
万方数据
维普
