Resumen
To improve the positioning accuracy and reliability of autonomous navigation agricultural machinery and reduce the cost of high-precision positioning, an integrated navigation system based on Real-Time Dynamic Kinematic BeiDou Navigation Satellite System (RTK-BDS) and Inertial Navigation System (INS) is designed in this study. On the one hand, an autonomous navigation control board is designed and made in the system, which integrates BDS high-precision analysis module, Inertial Measurement Unit (IMU) module, and radio module, and realizes the integrated navigation algorithm on the control board. On the other hand, low-cost RTK technology is realized by building differential reference stations and vehicle-mounted mobile stations. Experiments are carried out on actual farm machinery under different road conditions including open road, signal-shielded road, and urban congested road. According to the angular velocity and acceleration information from INS and the position and velocity information from the BDS high-precision analysis module, the system uses Kalman filter algorithm for data fusion to calculate the precise position, velocity, and attitude information of agricultural machinery in real time. The experimental results show that the position error of the integrated navigation system on the open road is within 3 cm, the azimuth error is within 0.6°, and the inclination error is within 1°, all of which converge rapidly when encountering bad road conditions. It can be known from the experimental results that the RTK-BDS/INS integrated navigation system has high positioning accuracy, strong adaptive anti-interference ability, and low implementation cost of RTK technology, which provides a reliable way for automatic navigation control of agricultural machinery.