[1]陈智博,刘强.自适应速度约束滤波在挖掘机GPS系统中的应用[J].华侨大学学报(自然科学版),2012,33(5):490-494.[doi:10.11830/ISSN.1000-5013.2012.05.0490]
　CHEN Zhi-bo,LIU Qiang.Application of Adaptive Velocity Constraint Filter in Excavator GPS System[J].Journal of Huaqiao University(Natural Science),2012,33(5):490-494.[doi:10.11830/ISSN.1000-5013.2012.05.0490]
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自适应速度约束滤波在挖掘机GPS系统中的应用()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第33卷
期数:
2012年第5期
页码:
490-494
栏目:
出版日期:
2012-09-20

文章信息/Info

Title:
Application of Adaptive Velocity Constraint Filter in Excavator GPS System
文章编号:
1000-5013(2012)05-0490-05
作者:
陈智博;  刘强
华侨大学 机电及自动化学院, 福建 厦门 361021
Author(s):
CHEN Zhi-bo;  LIU Qiang
College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China
关键词:
挖掘机;  全球定位系统;  自适应;  速度约束;  卡尔曼滤波
分类号:
TD422.2;P228.4;TB114.2
DOI:
10.11830/ISSN.1000-5013.2012.05.0490
文献标志码:
A
摘要:
针对挖掘机工作特点的局限性,通过引用速度约束条件和自适应协方差矩阵,在位置速度加速度模型下,提出利用自适应速度约束卡尔曼滤波器对挖掘机动静态目标进行跟踪定位.仿真和实验结果表明:利用自适应速度约束和相关滤波算法,可以有效实现挖掘机运动目标的跟踪定位优化,同时滤波算法的航迹更为连续,跟踪精度更高,均方误差更小.
Abstract:
Based on the working performance limitation of excavator, a new adaptive velocity constraint kalman filter is proposed by referencing the velocity constraint conditions and adaptive covariance matrix. Under the position velocity acceleration model, the Kalman filter is improved to track and position the static and dynamic targets of excavator. Simulation and experimental results show that using adaptive velocity constraint and correlation filtering algorithm can realize the excavator moving target tracking and positioning optimization effectively. Meanwhile, the track of the filtering algorithm is more continuous, more accurate and smaller mean square error.

参考文献/References:

[1] YOU S J,LEE K W,KWON S W.Building an digital model of an earthwork site for autonomous excavator operation[C]//ICROS-SICE International Joint Conference.Japan:Fukuoka,2009:2217-2219.
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[3] 孙罡,王昌明,张爱军.GPS静态单点定位的滤波算法比较[J].南京理工大学学报:自然科学版,2011,35(1):80-85.
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[5] 黄建新.Kalman滤波的人体运动位置跟踪算法[J].华侨大学学报:自然科学版,2003,24(3):254-256.
[6] 何友,王国宏,陆大琻,等.多传感器信息融合及应用[M].北京:电子工业出版社,2007.
[7] 邓自立.信息融合滤波理论及其应用[M].哈尔滨:哈尔滨工业大学出版社,2007.
[8] 左峻疆,鲍远律,刘艳.一种带约束条件的GPS 动态滤波新方法[J].计算机仿真,2004,21(12):80-83.

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备注/Memo

备注/Memo:
收稿日期: 2012-02-16
通信作者: 刘强(1972-),男,副教授,主要从事工程机械电控测试与应用的研究.E-mail:liuqiang@hqu.edu.cn.
基金项目: 福建省高校产学合作重大项目(2010H6015)
更新日期/Last Update: 2012-09-20