Real-time 3D Terrain Measurement Method and Experiment in Farmland Leveling

被引：0

作者：

Wang P. ^{[1
,2
]}

Feng D. ^{[1
]}

Chen G. ^{[1
]}

He J. ^{[1
,2
]}

Hu L. ^{[1
,2
]}

Peng J. ^{[1
]}

机构：

[1] Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou

[2] Maoming Branch Center, Lingnan Modern Agricultural Science and Technology Guangdong Laboratory, Maoming

来源：

Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2023年 / 54卷 / 03期

关键词：

3D terrain; farmland leveling; GNSS; Kalman filter; real-time measurement;

D O I：

10.6041/j.issn.1000-1298.2023.03.004

中图分类号：

学科分类号：

摘要：

In order to improve the real-time measurement accuracy of field surface topography in the area behind the leveling in the process of farmland leveling operation, a real-time measurement method of 3D topography in the process of farmland precision leveling was proposed. Using a supported-wheel dryland grader installed with GNSS dual antennas and attitude sensors as a terrain measurement platform, the Kalman filter was firstly used to fuse GNSS and acceleration to improve the positioning accuracy and frequency, and then the vehicle coordinates of the bottom point of the supported wheel were obtained by establishing the kinematic model of the grader, and finally the geodetic coordinates of the bottom point of the supported wheel were solved by combining the information of the position of grader and the topographic map was generated by using the nearest neighbor interpolation method. The test verification showed that this method can accurately solve the coordinates of the bottom point of the support wheel, and the root mean square error of the plane measurement was less than 10 mm, and the root mean square error of the elevation deviation was not more than 20 mm. The test results of cement pavement showed that the root mean square error of the elevation difference between the measured value and the true value was less than 30 mm when the three-dimensional terrain of the same section of cement pavement was measured at three different speeds. The field test results showed that the root mean square error of the measured terrain was 16. 5 mm, flatness was 16 mm, and the elevation difference distribution less than 30 mm was 95. 8%. Compared with the airborne GNSS measurement method, the root mean square error accuracy was improved by 29. 5 %, flatness accuracy was improved by 11. 1 %, and height difference distribution column accuracy was improved by 9. 5%. The method proposed can obtain the topographic information of the area behind the leveling in real time and accurately during the leveling operation, and provide a basis for the research of real-time path planning of unmanned farmland leveling. © 2023 Chinese Society of Agricultural Machinery. All rights reserved.

引用

页码：41 / 48

页数：7

共 27 条

[1]

HU Lian, LUO Xiwen, LIN Chaoxing, Et al., Development of 1PJ <sup>-</sup> 4. 0 laser leveler installed on a wheeled tractor for paddy field [J], Transactions of the Chinese Society for Agricultural Machinery, 45, 4, pp. 146-151, (2014)

[2]

TANG L, HU L, ZANG Y, Et al., Method and experiment for height measurement of scraper with water surface as benchmark in paddy field [J], Computers and Electronics in Agriculture, 152, pp. 198-205, (2018)

[3]

LI Xiao, LI Hongpeng, NIU Dongling, Et al., Optimization of GNSS-controlled land leveling system and related experiments [J], Transactions of the CSAE, 31, 3, pp. 48-55, (2015)

[4]

DONG Yujuan, SHI Fenghua, Application of GPS <sup>-</sup> RTK and mobile phone orville interactive map in the agricultural land leveling survey [J], Journal of Anhui Agriculture Science, 44, 31, pp. 238-241, (2016)

[5]

ZHAO R, HU L, LUO X, Et al., Method for estimating vertical kinematic states of working implements based on laser receivers and accelerometers, Biosystems Engineering, 203, pp. 9-21, (2021)

[6]

ZHAI Changyuan, YANG Shuo, WANG Xiu, Et al., Status and prospect of intelligent measurement and control technology for agricultural equipment[J], Transactions of the Chinese Society for Agricultural Machinery, 53, 4, pp. 1-20, (2022)

[7]

XIA Youxiang, LIU Gang, KANG Xi, Et al., Optimization and analysis of location accuracy based on GNSS-controlled precise land leveling system [J], Transactions of the Chinese Society for Agricultural Machinery, 48, pp. 40-44, (2017)

[8]

HU Lian, YANG Weiwei, XU Yi, Et al., Design and experiment of paddy field leveler based on G P S [J], Journal of South China Agricultural University, 36, 5, pp. 130-134, (2015)

[9]

JING Yunpeng, JIN Zhikun, LIU Gang, Topographic survey of farmland based on GNSS dual antenna combined with AHRS, Transactions of the CSAE, 35, 21, pp. 166-174, (2019)

[10]

WANG Yan, LI Hongpeng, NIU Dongling, Et al., Real-time path planning and navigation in GNSS-controlled land leveling, Transactions of the Chinese Society for Agricultural Machinery, 45, pp. 271-275, (2014)

← 1 2 3 →