Positioning correction method for rice transplanters based on the attitude of the implement
2020
He, Jie | Luo, Xiwen | Zhang, Zhigang | Wang, Pei | He, Jing | Yue, Binbin | Ding, Fan | Zhu, Qiming
In the current research on the navigation of rice transplanters, navigation and positioning are achieved by measuring and controlling the body of a rice transplanter. However, the transplanter body and the implement experience relative pose changes, and the trajectories of the body and the implement are inconsistent. Considering this problem, a positioning correction method for rice transplanters based on the attitude of the implement was designed in this study. The transformational relationship between coordinate systems was established and used to estimate the position and attitude of the rice transplanter. A Kalman filter was designed to integrate the estimated positioning and attitude data. Thus, the attitude of the center of the implement was indirectly obtained and used for navigating and positioning the rice transplanter. The experimental results showed that the root-mean-square errors of the positions determined with the body and implemented as control points were 0.031 m and 0.063 m, respectively. When the body of a rice transplanter tilts, the positioning correction method based on the attitude of the implement can satisfactorily improve the positioning accuracy of the rice transplanter and help improve the navigation control accuracy for paddy rice seedling transplantation.
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