The invention discloses an estimation method and estimator for sideslip angle of straight line navigation of agricultural machinery, which collect and analyze front wheel steering angle information, forward speed information of agricultural machinery, antenna positioning information and current attitude information. The estimation of sideslip angle is realized based on state observation theory. The first estimator, the second estimator and the third estimator are used to estimate the heading deviation of the vehicle body, position deviation and sideslip angle information. In the analysis process, integration is used instead of differentiation, which avoids the error of amplification by differential operation. In addition, the estimation of heading deviation and position deviation is completed while the sideslip angle is obtained, and the filtering function is provided by itself, which improves the issues of large heading deviation and position deviation acquisition error caused by the delay of updating positioning information, and provides reference for the straight-line path tracking algorithm of agricultural machinery automatic navigation, and further provides support for improving the path tracking accuracy of agricultural machinery automatic navigation under sideslip conditions. -1/5 Thesecaz esinr Front whee] anglesensor GNSS positimindmu esn~mlstortC device t fnai Autoomo0 navigatio velicle im agocultual Fig.1 y C Fig.2
An Estimation Method and Estimator for Sideslip Angle of Straight-line Navigation of Agricultural Machinery
2021-03-11
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Europäisches Patentamt | 2021
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