Article(id=1325194247221162454, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194246805926358, articleNumber=null, orderNo=null, doi=10.12398/j.issn.2096-7217.2024.02.004, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1706716800000, receivedDateStr=2024-02-01, revisedDate=1710864000000, revisedDateStr=2024-03-20, acceptedDate=null, acceptedDateStr=null, onlineDate=1793880529456, onlineDateStr=2026-11-05, pubDate=1715702400000, pubDateStr=2024-05-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793880529456, onlineIssueDateStr=2026-11-05, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793880529456, creator=13701087609, updateTime=1793880529456, updator=13701087609, issue=Issue{id=1325194246805926358, tenantId=1146029695717560320, journalId=1319690209941618849, year='2024', volume='5', issue='2', pageStart='1', pageEnd='69', issueExtLink='null', onlineDate='null', pubDate='1715702400000', pubDateStr='2024-05-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793880529357, creator='13701087609', updateTime=1793944035775, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1325460612838458345, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194246805926358, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1325460612838458346, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194246805926358, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=33, endPage=41, ext={EN=ArticleExt(id=1325194247376351703, articleId=1325194247221162454, tenantId=1146029695717560320, journalId=1319690209941618849, language=EN, title=Research on deflection angle measurement system of tractor guide wheel based on GNSS/INS, columnId=null, journalTitle=Journal of Intelligent Agricultural Mechanization, columnName=null, runingTitle=null, highlight=null, articleAbstract=

Traditional angle sensors have problems such as insufficient accuracy and complex installation and debugging when measuring the deflection angle of tractor guide wheels, which hinder the high precision and stability requirements of tractor automatic navigation operations. Therefore, this paper aims to construct and validate a novel system based on the principles of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS), which is capable of real-time calculation of dynamic angles of the tractor's steering wheel. First, a in-depth analysis of GNSS/INS fusion principles was conducted, and corresponding GNSS/INS data measurement bench tests were designed to obtain measurement values from angle sensors. Subsequently, three filtering algorithms, namely Kalman Filter (KF), Extended Kalman Filter (EKF), and Unscented Kalman Filter (UKF), were employed to filter the angle measurement values, evaluating metrics such as overshoot, response time, and stability, and the results showed that UKF performed best in this system. Second, steering and straight-line performance tests were conducted under different conditions (asphalt road and farmland) for tractor automatic navigation. In the steering performance tests, fixed measurements at different angles of 1°, 5°, and 15° were conducted, and the results showed that the response time of the two environments was the smallest at 1°, but both produced the largest overshoot. At the same time, an increase in angle demonstrated a significant reduction in steady-state error. In the straight-line automatic navigation performance tests, the maximum lateral deviations for asphalt road and farmland were 17.51 mm and 18.52 mm, respectively, with system errors of 10.45 mm (2σ) and 21.07 mm (2σ). A comparison between the two conditions indicated superior performance metrics on asphalt road, yet both conditions met the requirements of precision, response time, and stability for automatic navigation systems, thus suitable for tractor automatic navigation operations.

, authors=Shuang FENG^{1, 2}, Zhaoguo ZHANG^{1, 2, *}, Lianzhu SUN^{1, 2}, Fa'an WANG^{1, 2}, Kaiting XIE^{1, 2, 3}, authorsList=Shuang FENG, Zhaoguo ZHANG, Lianzhu SUN, Fa'an WANG, Kaiting XIE, authorCompany=null, correspAuthors=Zhaoguo ZHANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1325194247640592856, articleId=1325194247221162454, tenantId=1146029695717560320, journalId=1319690209941618849, language=CN, title=基于GNSS/INS的拖拉机导向轮偏转角度测量系统设计与试验, columnId=0, journalTitle=智能化农业装备学报（中英文）, columnName=, runingTitle=null, highlight=null, articleAbstract=

传统的角度传感器在拖拉机导向轮偏转角度的测量中存在准确度不足、安装调试复杂等问题，这些问题制约了拖拉机在自动导航作业时的高精度、高稳定性的需求。鉴此，本文旨在构建并验证一种新型系统，该系统基于全球导航卫星系统（global navigation satellite system，GNSS）和惯性导航系统（inertial navigation system，INS）的技术原理，能够实现对拖拉机导向轮动态角度的实时解算。首先，对GNSS/INS融合原理进行了深入的分析，并设计了相应的GNSS/INS数据测量台架试验，以获取角度传感器的测量值。随后，采用卡尔曼滤波（Kalman filter，KF）、扩展卡尔曼滤波（extended Kalman filter，EKF）和无迹卡尔曼滤波（untraced Kalman filter，UKF）三种滤波算法对角度测量值的滤波处理，以超调量、响应时间和稳定性等指标进行评价，结果表明UKF在本系统中表现最优。其次，针对不同工况（沥青路面和农田），进行了拖拉机在自动导航下转向和直线性能测试。在转向性能测试中，进行了1°、5°和15°的不同角度的固定测量，结果显示在1°时两种环境的响应时间最小，但均产生了最大超调量，同时随着角度的增加，系统对稳态误差的降低有明显作用。直线自动导航性能测试中，沥青路面和农田的最大横向偏差分别为17.51 mm和18.52 mm，系统误差分别为10.45 mm（2σ）和21.07 mm（2σ）。通过对比两种工况，沥青路面的各项性能指标上均优于农田环境，但两种工况在精度、响应时间和平稳性上均满足自动导航系统需求，可应用于拖拉机的自动导航作业中。

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冯爽，男，1999年生，云南宣威人，硕士研究生；研究方向为农业机械装备设计。E-mail：1184788382@qq.com

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冯爽，男，1999年生，云南宣威人，硕士研究生；研究方向为农业机械装备设计。E-mail：1184788382@qq.com

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