摘要
The objective of this research was to determine the Nomoto model maneuverability indices of an agricultural unmanned airboat which was developed to perform autonomous weeding and paddy growth monitoring in a paddy field.A global positioning system compass and an inertial measurement unit were attached on the airboat body to record the position,heading and angular rate.The zig-zag experiments were adopted to obtain the maneuverability indices.The Matlab-based maneuvering simulations were conducted and compared with field experimental data of circular motion test and sinusoidal running test,respectively.The results showed that the trace error was at sub-meter level,which expounds the validity of the obtained maneuvering indices.The proposed Nomoto model maneuverability indices can be used to improve the airboat precise automatic control in paddy field.
