Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering
Real-time acquisition of location information for agricultural robotic systems is a prerequisite for achieving high-precision intelligent navigation. This paper proposes a data filtering and combined positioning method, and establishes an active screening model. The dynamic and static positioning dr...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/24/7/2372 |
| _version_ | 1797211947546968064 |
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| author | Xiao Zhang Yuting Fu Jie Li Yandong Wei Yu Li Lu Zheng |
| author_facet | Xiao Zhang Yuting Fu Jie Li Yandong Wei Yu Li Lu Zheng |
| author_sort | Xiao Zhang |
| collection | DOAJ |
| description | Real-time acquisition of location information for agricultural robotic systems is a prerequisite for achieving high-precision intelligent navigation. This paper proposes a data filtering and combined positioning method, and establishes an active screening model. The dynamic and static positioning drift points of the carrier are eliminated or replaced, reducing the complexity of the original Global Navigation Satellite System (GNSS) output data in the positioning system. Compared with the traditional Kalman filter combined positioning method, the proposed active filtering–Kalman filter algorithm can reduce the maximum distance deviation of the carrier along a straight line from 0.145 m to 0.055 m and along a curve from 0.184 m to 0.0640 m. This study focuses on agricultural robot positioning technology, which has an important influence on the development of smart agriculture. |
| first_indexed | 2024-04-24T10:34:35Z |
| format | Article |
| id | doaj.art-62aee6b469884fd58c3e2954f5c635ee |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-24T10:34:35Z |
| publishDate | 2024-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-62aee6b469884fd58c3e2954f5c635ee2024-04-12T13:26:54ZengMDPI AGSensors1424-82202024-04-01247237210.3390/s24072372Research on Combined Localization Algorithm Based on Active Screening–Kalman FilteringXiao Zhang0Yuting Fu1Jie Li2Yandong Wei3Yu Li4Lu Zheng5College of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaIndustrial Technology Centre, Hebei Petroleum University of Technology, Chengde 067000, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaCollege of Engineering, China Agricultural University, Beijing 100083, ChinaReal-time acquisition of location information for agricultural robotic systems is a prerequisite for achieving high-precision intelligent navigation. This paper proposes a data filtering and combined positioning method, and establishes an active screening model. The dynamic and static positioning drift points of the carrier are eliminated or replaced, reducing the complexity of the original Global Navigation Satellite System (GNSS) output data in the positioning system. Compared with the traditional Kalman filter combined positioning method, the proposed active filtering–Kalman filter algorithm can reduce the maximum distance deviation of the carrier along a straight line from 0.145 m to 0.055 m and along a curve from 0.184 m to 0.0640 m. This study focuses on agricultural robot positioning technology, which has an important influence on the development of smart agriculture.https://www.mdpi.com/1424-8220/24/7/2372active filteringcombined positioningKalman filteringstatic positioningdynamic positioning |
| spellingShingle | Xiao Zhang Yuting Fu Jie Li Yandong Wei Yu Li Lu Zheng Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering Sensors active filtering combined positioning Kalman filtering static positioning dynamic positioning |
| title | Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering |
| title_full | Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering |
| title_fullStr | Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering |
| title_full_unstemmed | Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering |
| title_short | Research on Combined Localization Algorithm Based on Active Screening–Kalman Filtering |
| title_sort | research on combined localization algorithm based on active screening kalman filtering |
| topic | active filtering combined positioning Kalman filtering static positioning dynamic positioning |
| url | https://www.mdpi.com/1424-8220/24/7/2372 |
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