误差修正装置(34),设于作业车辆,对基于传感器装置的测定值的误差进行修正,传感器装置具备GNSS传感器和陀螺仪传感器,误差修正装置包括:第1取得部(341),取得由GNSS传感器测定的自身坐标系中的作业车辆的车辆位置、和由陀螺仪传感器测定的传感器坐标系中的角速度,传感器坐标系具有以传感器装置为基准的3个轴;坐标变换部(345),基于所取得的角速度,将在传感器坐标系中以设定于与传感器装置不同位置的设定位置为起点的传感器装置所设置的测定位置的相对位置矢量坐标变换为自身坐标系中的相对位置矢量;车辆位置修正部(346),设以自身坐标系的原点为起点的设定位置的位置矢量为Pa、测定位置的位置矢量为PS、坐标变换后的相对位置矢量为L,利用Pa=PS-L的式子算出设定位置的位置矢量Pa并对由GNSS传感器测得的车辆位置的误差进行修正。

    An error correcting device 34 is mounted in a working vehicle and corrects an error in measurement value of a sensor device having a GNSS sensor and a gyro sensor. The error correcting device 34 includes: a first acquisition part 341 that acquires a vehicle position of the working vehicle in a local coordinate system, the vehicle position being measured by the GNSS sensor, and an angular velocity in a sensor coordinate system having three axes set with reference to the sensor device, the angular velocity being measured by the gyro sensor; a coordinate transformation part 345 that coordinate-transforms, based on the acquired angular velocity, a relative position vector of a measurement position in the sensor coordinate system at which the sensor device is provided, the relative position vector extending from a set position set at a different position from the position of the sensor device in the sensor coordinate system, to a relative position vector in the local coordinate system; and a vehicle position correcting part 346 that calculates a position vector Pa of the set position extending from an origin of the local coordinate system according to an expression of Pa = Ps - L, wherein Ps denotes a position vector of the measurement position and L denotes the coordinate-transformed relative position vector, to correct an error in the vehicle position measured by the GNSS sensor.


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    Title :

    误差修正装置


    Publication date :

    2022-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen