Laser emitting and tracking system used for three-point location

LUO Ya-hui; JIANG Ping; HU Wen-wu; WU Wei

doi:10.3788/OPE.20132109.2252

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Laser emitting and tracking system used for three-point location

更新时间：2020-08-12

- Laser emitting and tracking system used for three-point location
- Optics and Precision Engineering Vol. 21, Issue 9, Pages: 2252-2259(2013)
- 作者机构：
  
  1. 湖南农业大学工学院，湖南长沙 410128
  2. 湖南省现代农业装备工程技术研究中心,湖南长沙,410128
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20132109.2252
  CLC： TN249
- Received：26 March 2013，
  
  Revised：15 May 2013，
  
  Published Online：30 September 2013，
  
  Published：15 September 2013
- 稿件说明：
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罗亚辉蒋蘋胡文武吴畏. 用于三点定位的激光发射追踪系统[J]. 光学精密工程, 2013,21(9): 2252-2259

LUO Ya-hui JIANG Ping HU Wen-wu WU Wei. Laser emitting and tracking system used for three-point location[J]. Editorial Office of Optics and Precision Engineering, 2013,21(9): 2252-2259
罗亚辉蒋蘋胡文武吴畏. 用于三点定位的激光发射追踪系统[J]. 光学精密工程, 2013,21(9): 2252-2259 DOI： 10.3788/OPE.20132109.2252.

LUO Ya-hui JIANG Ping HU Wen-wu WU Wei. Laser emitting and tracking system used for three-point location[J]. Editorial Office of Optics and Precision Engineering, 2013,21(9): 2252-2259 DOI： 10.3788/OPE.20132109.2252.

摘要

为研制适用于南方小面积农田的小型农机定位系统，基于激光三点定位原理设计了一套应用双激光源三点定位的激光发射追踪系统。讨论了双激光源三点定位原理，重点描述了激光发射追踪系统的机械结构设计与控制处理电路设计，并提出了基于增量式PID、具有快速修正功能的卡尔曼滤波追踪算法，解决了激光追踪中的移动目标预估与转弯及变速过程中的误差补偿问题。一系列实验结果表明：不同速度下，两个激光发射器所发射的激光均能较好地追踪激光接收器靶标中心，最大偏差为2.8 cm，能满足200 m内误差小于4 cm的作业机械定位需求。所提出的算法可靠有效，为农田作业机械无人驾驶和田间数据定点采集奠定了基础。

Abstract

To develop a location system for small agricultural machines in the Chinese south

a laser emitting and tracking system based on double laser-emitter and three-point location was designed based on the laser three-point theory. The theory of double-laser-emitter and three-point location was introduced; then

the laser emitting and tracking system was designed

including the designs of working mechanism and controlling circuit for the laser emitter. The Kalman filtering algorithm based on a incremental PID with quick correction functions was proposed to estimate the moving targets in laser tracking and to compensate the errors in changing speeds and turning corner of the machine. A series experiments were performed. The experiment results show that the targets of laser receiver can be tracked dynamically by both laser emitters in real-time

and the maximum deviation is 2.8 cm

which meets the location requirement of an autotracked-driving farming machine for an accuracy of 4 cm within 200 m. For the reliable and effective algorithm

it can lay a foundation for unmanned driving of farmland machines and data collection in farming fields.

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references

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