Autonomous navigation method and system for paddy field mechanical weeding equipment in repeated operation scene

• Main Authors: HAN YI, DU ZHUOWEN, MA ZHEN, CUI BINGBO, WEI XINHUA, ZHU YONGYUN
• Format: Patent
• Language: Chinese; English
• Published: 04.08.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CONTROLLING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The invention discloses an autonomous navigation method and system for paddy field mechanical weeding equipment in a repeated operation scene, and the method comprises the steps: obtaining the current course deviation and transverse deviation of the weeding equipment relative to a field crop row, transmitting the course deviation and the transverse deviation to a weeding equipment driving controller for navigation control if an RTK positioning signal is unavailable, or else, transmitting the navigation control to a weeding equipment driving controller; based on the lateral deviation, a pseudo-range between the weeding equipment and a satellite is predicted through vision, the visual prediction pseudo-range and a GNSS measurement pseudo-range are fused, then a state vector is updated, weeding equipment position information output by a GNSS navigation module is corrected through the updated state vector, the updated weeding equipment position is obtained, and the position of the weeding equipment is corrected.