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Title:
AUTOMATIC CALIBRATION METHOD OF ANGLE SENSOR FOR AUTOMATIC DRIVE CONTROL SYSTEM OF FARM MACHINE
Document Type and Number:
WIPO Patent Application WO/2018/076725
Kind Code:
A1
Abstract:
An automatic calibration method of an angle sensor for an automatic drive control system of a farm machine, comprising the following steps: step S1, fixing a steering wheel of a farm machine to keep the front wheels of a vehicle at a fixed angle; step S2, collecting current location information of the farm machine for several times and averaging; step S3, establishing a rear axle center-based kinematic model for a two-wheeled farm machine; step S4, calculating the radius to obtain a set of angle correspondence relationship; step S5, rotating the farm machine by a preset angle centered about a rear axle of the farm machine, and executing steps S1-S4; and step S6, after step S5 is executed for several times, performing angle fitting calculation to obtain a calibration coefficient. By using a technology combining vehicle kinematic and high-precision GNSS, the present invention can achieve a high-precision calibration of an angle sensor without external accessories and related empirical parameter input, can achieve an automatic calibration, and is adaptive to a precise agriculture automatic drive control system.

Inventors:
REN QIANG (CN)
WANG JIEJUN (CN)
SHEN XUEFEN (CN)
FENG SHAOXI (CN)
DONG GUANGYANG (CN)
Application Number:
PCT/CN2017/089132
Publication Date:
May 03, 2018
Filing Date:
June 20, 2017
Export Citation:
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Assignee:
SHANGHAI HUACE NAVIGATION TECH LTD (CN)
International Classes:
G01C25/00; G01B21/22; G01M17/06
Foreign References:
CN105372078A2016-03-02
CN101334294A2008-12-31
CN102007417A2011-04-06
CN1550758A2004-12-01
CN1550757A2004-12-01
CN105523083A2016-04-27
CN103994745A2014-08-20
CN105629973A2016-06-01
CN105172793A2015-12-23
CN104354764A2015-02-18
CN106004996A2016-10-12
US20120191268A12012-07-26
US20140005918A12014-01-02
JP5686703B22015-03-18
Other References:
See also references of EP 3489624A4
Attorney, Agent or Firm:
SHANGHAI XUAN YI PATENT OFFICE (GENERAL PARTNERSHIP) (CN)
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