摘要
在农机物联网云平台基础上,提出利用卡尔曼滤波和H_∞滤波算法对北斗定位信号进行加工处理,使农业种植或者选种实验中的各项数据得到监控。主要介绍了农机物联网的整体系统框架,设计实现了双控制器控制系统,农机定位控制器实现北斗数据处理,完成JT/T808协议通信,农机终端S7-200 SMART PLC实现农机播种耕作逻辑控制。提出利用卡尔曼滤波算法处理静态北斗数据,H_∞滤波算法处理动态北斗数据,通过状态方程和节点观测方程推出预测方程,将预测方程再与节点观测方程结合推导出最优值,然后比较预测值和测量值并结合协方差精细加权修正。通过实验样机测试,结果显示改进后的算法处理静态和动态定位数据的精度均有提高,因此,整个农机物联网定位系统达到了在农业种植工作中的要求。
On the basis of the cloud platform of agricultural machinery Internet of Things(IoT),the Kalman filtering and H_∞filtering algorithm are used to process the BeiDou positioning signal to monitor the data in the experiment of agricultural planting or seed selection.The whole system framework of agricultural machinery IoT is introduced.The dual controller control system is designed and implemented.The agricultural machinery positioning controller is used to realize BeiDou data processing and complete JT/T808 protocol communication.The agricultural machinery terminal S7-200 SMART PLC is used to realize agricultural machinery sowing and tillage logic control.The Kalman filtering algorithm is used to process static BeiDou data,while the H_∞filtering algorithm is used to process the dynamic BeiDou data.The prediction equation is derived from the state equation and the node observation equation.The prediction equation is combined with the node observation equation to obtain the optimal value.And then,the predicted value is compared with the measured value and modified by detailed weighting in combination with the covariance.After the experimental prototype test,the results show that the accuracy of the improved algorithm in processing static and dynamic positioning data has been improved.Therefore,the whole agricultural machinery IoT positioning system has met the requirements of agricultural planting.
作者
程广河
周胜国
郝慧娟
郝凤琦
孟庆龙
尹亚南
CHENG Guanghe;ZHOU Shengguo;HAO Huijuan;HAO Fengqi;MENG Qinglong;YIN Ya’nan(Shandong Provincial Key Laboratory of Computer Networks,Shandong Computer Science Center(National Supercomputer Center in Jinan),Qilu University of Technology(Shandong Academy of Sciences),Jinan 250014,China)
出处
《现代电子技术》
2021年第23期7-12,共6页
Modern Electronics Technique
基金
国家重点研发计划“智能农机装备”专项:种子繁育机械装备智能控制系统研发(2017YFD0701201)
国家重点研发计划“智机装备”专项:花生智能化两段收获关键技术与装备研发(2016YFD0702103)
山东省科学院-沂南县产学研协同创新基金:畜禽粪污处理一体化环保设备及系统研发(2018CXY-23)
山东省科学院院地产学研协同创新基金:高端制造数字化车间关键技术研发及示范(2018CXY-1)
山东省重大科技创新工程项目:甜玉米标准化生产及高值化产品研发关键技术研究与产业化示范(2019JZZY020603)。
关键词
北斗导航
农机物联网
北斗伪距单点定位
卡尔曼滤波
H_∞滤波算法
JT/T808协议
PLC
BeiDou navigation satellite system
agricultural machinery IoT
BeiDou pseudo-distance single point positioning
Kalman filtering
H_∞filtering algorithm
JT/T808 protocol
PLC
