机构地区: 华南农业大学工程学院南方农业机械与装备关键技术省部共建教育部重点实验室
出 处: 《农业机械学报》 2013年第5期202-206,212,共6页
摘 要: 作为对传统农田信息采集方式的补充,提出了一种基于小型飞行器的采集方式。阐述了四旋翼飞行器的工作原理,并设计了农田信息采集平台,制作出的样机载重为3.5 kg,滞空时间大于20 min。设计了惯性测量系统,在测试翻滚角误差小于0.5°时确定融合算法权重系数K为12,利用PID闭环控制,实现3 m高度悬停飞行的偏移误差不超过5 m。在平台上搭载Trimble 5700型GPS接收机进行了实时数据采样实验,结果表明人工采样与飞行采样数据误差约为1.4 m,表明该平台具有采集农田位置信息的基本能力。 As a supplement to the traditional field information collection, a collection method based on small aircraft was presented. The working principle of the four-rotor aircraft was introduced. Collection platform structure contained five parts of the field information was designed. The prototype load was 3.5 kg. The endurance time was longer than 20 min. An inertial measurement system was also designed. The fusion algorithm weight coefficient K of the system was 12 in the test when roll angle error was less than 0.5~. PID closed loop control was used to achieve hover flight in the height of 3 m and the offset error did not exceed 5 m. The platform equipped with a GPS receiver Trimble 5700 for the real-time data sampling experiments. The error between manual sampling and flight sampling data was 1.4 m. It indicated that the platform had the basic capability of the acquisition of farmland location information.