数字农科院2.0

RESEARCH ON THE INTEGRATED NAVIGATION AND POSITIONING SYSTEM FOR POWER CHASSIS IN HILLY AND MOUNTAINOUS AREAS BASED ON PPP-RTK/IMU; 基于 PPP-RTK/IMU 的丘陵山区动力底盘组合导航定位系统研究

文献类型： 外文期刊

作者： Weisong Zhao;Binxing Xu;Chunsong Guan;Jia Deng;Jian Wu;Haiyong Ren;Jinlong Wang;Shen Zhang;Zhifeng Chen

作者机构：

关键词： Hilly and Mountainous Areas;Kalman Filter;Navigation;Positioning;Power Chassis;PPP-RTK

期刊名称： INMATEH - Agricultural Engineering

ISSN： 2068-4215

年卷期： 2025 年 77 卷 3 期

页码：

收录情况： EI（2025版） ; ; ESCI（2025版）

摘要： To address the issue that single-satellite navigation systems are prone to signal occlusion and weakening, resulting in insufficient positioning accuracy when power chassis equipment operates in hilly and mountainous areas, a combined navigation scheme integrating Precise Point Positioning (PPP), Real-Time Kinematic (RTK), and an Inertial Measurement Unit (IMU) was proposed. A simulation model was developed using the PSINS (Precision Strapdown Inertial Navigation System) toolbox within the MATLAB environment. A straight-line trajectory was designed to simulate weakly nonlinear operating conditions, while a circular trajectory was used to represent the strong nonlinear continuous-turning conditions. The performance of the Extended Kalman Filter (EKF) was compared with that of the Unscented Kalman Filter (UKF). A combined PPP-RTK-IMU navigation test system was constructed, and both field experiments and verification tests were conducted in hilly and mountainous regions. The results showed that, in the circular trajectory simulation, the standard deviations of eastward, northward, and vertical position errors obtained using the UKF were reduced by 22%, 19%, and 18%, respectively, compared with those of the EKF. In field tests, the UKF demonstrated significantly better consistency with the reference values than the EKF. Results from five repeated field verification tests showed that the average maximum absolute lateral position deviation was 10.96 cm, the mean absolute deviation averaged 3.08 cm, and the average standard deviation was 3.02 cm, all meeting operational requirements. Overall, the findings indicate that the UKF is more suitable for strongly nonlinear operating scenarios encountered in hilly and mountainous terrain, and that the proposed combined navigation system effectively mitigates satellite signal occlusion, thereby meeting the precision requirements of modern agricultural machinery operations.

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