Navigation control based on double antenna GNSS and pure pursuit model for agricultural vehicle

Background: The automatic navigation of agriculture vehicles is a key technology in precision agriculture and widely used in agriculture production. The method of agricultural machinery’s position measurement, attitude measurement and path tracking control are key technologies in the automatic navigation system. behavior.

Methods: As the test platform by the LOVOL M904-D tractor, using double antenna GNSS receiver measures the position and attitude of tractor. According to the principle of carrier phase difference to obtain the high-precision position information and master-slave antennas baseline vector and according to the relationship between the heading angle, the roll angle and the master-slave antennas baseline vector to obtain the heading angle and the roll angle of agricultural machinery. Path tracking control of agricultural machinery adopts a new pure pursuit method that selects a tracking point in path planning and the direction of the navigation control points to the tracking point as the target heading. The angle between the target heading and the current heading of the body is treated as a decision wheel angle after limiting range.

Results: The experimental that navigation control mothed based on double antenna GNSS and new pure pursuit Model for agricultural vehicle show that the max tracking error is within 2.5 cm , the mean error is no more than 0.8 cm and standard deviation is less than 0.9cm in the condition that speed 1-1.2m/s and preview distance 1.5m.

Discussion: Does it affect navigation control accuracy that double antenna attitude measurement without pitch angle?

The white noise of the roll angle is larger, whether it needs to be filtered or fused with inertial navigation information?

How to change the preview distance to maintain stable and high-precision agricultural machinery navigation control when improving the speed?

Conclusion: The proposed method can satisfy the operation requirement of agricultural machine in the 1.2m/s speed.