A multi-sensor integrated positioning method for a rice transplanter supplemented with vi-sion navigation system based on the GNSS/INS integrated positioning was proposed to improve the naviga-tion effect of rice transplanter based on GNSS/INS integrated positioning when encountering the conditions of ambient occlusion,electromagnetic interference and sensor failure.Firstly,the improved Otsu method and the improved Hough transform algorithm were designed to extract the visual positioning information,and the relationship equation between the coordinate system of rice transplanter and camera was constructed to solve the position and pose values.Then,the federal Kalman filter algorithm with fault-tolerant function was used to fuse the visual positioning information with the positioning information output by GNSS and INS.Finally,tests were conducted in cement field and paddy field.Results showed that the accuracy of GNSS/INS/VNS combined positioning was similar to that of GNSS/INS integrated positioning in the open cement ground scene,but the average values of position error and heading error calculated by GNSS/INS/VNS combined positioning were 1.77 cm and 0.99°,respectively,which are 46.8%and 61.5%high-er than those by GNSS/INS integrated positioning method.In paddy field experiment,the average values of lateral deviation and heading deviation of navigation system decreased by 45.7%and 67.9%,respective-ly after visual supplement,with the average values of lateral deviation of 1.97 cm and heading deviation of 0.49°.It is indicated that the multi-sensor integrated positioning method based on visual supplement can ef-fectively reduce the positioning error and tracking deviation of navigation system,meeting the performance requirements of automatic driving operation of transplanter.
rice transplantervision navigationinformation fusionnavigation and positioningKalman filterimage processingfault tolerance
NETL
NSTL
万方数据
