无人宽幅施药机位姿误差耦合机理与分布式位姿测量方法研究

In order to improve the reliability of autonomous driving system and reduce the crop damage rate resulting from rapid speeds, crop row switch and turn around of high clearance sprayer, the study of coupling mechanism between positioning and attitude error and distributed position/attitude observer of unmanned wide range sprayer is with important scientific significance. To solve the problem of multiple vibration factors coupling appearing when high clearance sprayer works under complicated soil condition, the mapping relations between mechanical vibration, bump, inertial information of sprayer system and the drift of sprayer attitude is analyzed, and an error compensation model for FOG-SINS with double circuit is proposed. By employing deeply coupled FOG-SINS/RTK-GNSS the propagation law of dynamic lever arm error is demonstrated and the coupling mechanism of positioning and attitude error of sprayer is revealed. To solve the basic contradiction between navigation control error and the estimation of sprayer bar motion, control model parameters, the position/attitude of sprayer and spray bar is fixed simultaneously by using distributed inertial measuring method, which improves the robustness of estimator for sprayer attitude and model time-variant parameters. The achievements in this project will provide important theoretical and practical supports for unmanned spraying machinery in improving the efficiency and reliability of its autonomous operation. The proposed technology will not only sufficiently reduce the crop damage rate of the auto-driving working of sprayer but also ensure the decrease of pesticide quantity and the improvement of spraying quality.

为改善高地隙施药机自动驾驶系统的可靠性，降低其快速行驶、对行及掉头过程的伤苗率，开展无人宽幅施药机位姿误差耦合机理与分布式位姿测量方法研究，具有重要科学意义。针对复杂土壤条件下高地隙施药机多振动因素耦合，分析机械振动、地面颠簸以及噪声干扰与施药机姿态误差的映射关系，提出FOG-SINS的双回路误差补偿模型。采用FOG-SINS/RTK-GNSS深耦合结构，阐明施药机动态杆臂误差的传播规律，揭示高地隙施药机位姿误差耦合机理。基于分布式惯性测量实现施药机和喷杆位姿同步更新，解决导航控制误差与喷杆运动、控制模型参数估计交叉耦合的基本矛盾，提高施药机姿态与模型时变参数估计的鲁棒性。本项目成果为提高无人施药机自主作业效率与可靠性提供重要的理论与技术支撑，能有效降低施药机自动驾驶作业的伤苗率并实现农药的减量增效。

高地隙自走式施药机是大田植保无人机的有力补充，能有效解决无人机施药打不透、易漂移等问题。受限于复杂地面土壤条件以及视觉导航、卫星导航可靠性制约，现有无人驾驶施药机存在作业效率低下、快速直线行走和自动转弯过程伤苗率高等问题。本项目基于惯性测量开展无人宽幅施药机位姿误差耦合机理与分布式位姿测量方法研究，对改善施药机自主作业效率与可靠性具有重要科学意义。主要研究内容包括：（1）分析施药机自主作业多振动耦合与姿态漂移映射关系，提出FOG-SINS双回路误差补偿模型；（2）建立FOG-SINS/RTK-GNSS深耦合组合结构，揭示施药机杆臂误差传播规律与位姿误差耦合机理；（3）采用分布式惯性测量解决导航控制误差与喷杆运动、模型参数估计的基本矛盾，并给出喷杆姿态监测方案；（4）搭建宽幅施药机自主作业平台对上述理论成果进行验证。本项目采用状态变换和新型采样点传播框架抑制了线振动和非线性量测方程导致的状态估计虚假不确定性，明确了路径跟踪算法中导航控制误差与模型参数估计的映射关系；形成了以FOG-SINS/RTK-GNSS深耦合为主节点的喷杆分布式姿态估计方案，并开展半物理仿真验证了宽幅喷杆姿态监测算法的有效性；集成组合导航传感器、Stanley纯追踪模型和路径规划算法开发农机自动驾驶导航决策系统，试验结果表明无人施药机平整地面路径跟踪误差小于3cm, 水田作业路径跟踪误差小于10cm。本项目成果为提高无人施药机自主作业效率与可靠性提供了重要支撑，并形成无人宽幅施药机多传感器组合测量的技术理论框架，能有效降低施药机自主作业伤苗率并实现农药的减量增效。