Research on multi-row sowing positioning system based on RTK and IMU
During the cultivation process,it is necessary to accurately record the spatial distribution information of plants in order to maintain the consistency of plant spacing and row spacing,ensure uniform growth,and to improve the convenience of subsequent management and increase yield.Based on the spatial position information of the plant,a data basis can be provided for the subsequent intelligent management of the field.To improve the plant location positioning accuracy,a multi-row precision seeding positioning system was designed based on dual-antenna RTK and IMU.The RTK/IMU combination positioning method was utilized to detect the system positioning coordinates and heading.The seed dropping detection module was combined to complete the acquisition of the seed dropping data as well as the positioning data.Moreover,a seeding position algorithm was designed based on the dual-antenna RTK and IMU that were used to acquisite the position and attitude of the planter combining with the Kalman filter fusion algorithm..In line with the relative position of the rowing mechanism with the RTK antenna and IMU,the seeding position algorithm based on the relative rower position model was designed to realize the real-time solving of the seeding position of each rowing unit.The experiment showed that the system can accurately measure the seeding position with less than 30 mm of the root-mean-square error when the operating speed was within 7 km/h for straight line seeding or 3 km/h for curved seeding,which met the requirement of seeding position prediction accuracy in the precision seeding process.
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