林相泽,王祥,林彩鑫,耿晶,薛金林,郑恩来.基于超宽带的温室农用车辆定位信息采集与优化[J].农业机械学报,2018,49(10):23-29,45.
LIN Xiangze,WANG Xiang,LIN Caixin,GENG Jing,XUE Jinlin,ZHENG Enlai.Location Information Collection and Optimization for Agricultural Vehicle Based on UWB[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):23-29,45.
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基于超宽带的温室农用车辆定位信息采集与优化   [下载全文]
Location Information Collection and Optimization for Agricultural Vehicle Based on UWB   [Download Pdf][in English]
投稿时间:2018-04-22  
DOI:10.6041/j.issn.1000-1298.2018.10.003
中文关键词:  温室  精确定位  UWB  K-means  优化
基金项目:国家自然科学基金面上项目(61773216)、江苏省自然科学基金面上项目(BK20171386)和中国博士后科学基金项目(2016M591855)
作者单位
林相泽 南京农业大学 
王祥 南京农业大学 
林彩鑫 南京农业大学 
耿晶 南京农业大学 
薛金林 南京农业大学 
郑恩来 南京农业大学 
中文摘要:针对温室环境下农用车辆定位精度低的问题,开发了适用于温室环境的超宽带技术(Ultra wide band,UWB)室内定位试验平台。首先,以Ubisense射频芯片作为硬件基础,设计了定位平台标签和基站,并采用到达时间差(Time difference of arrival,TDOA)定位测距方法获得定位结果;然后,分别利用K-means聚类与截段处理的方法进行静态、动态定位信息优化计算,以减小脉冲信号传播特性和单一测距方式等导致的测量误差,获得准确的定位信息,实现温室内农用车辆的精确作业;最后,在温室环境下分别进行了静态定位试验与动态定位试验。试验结果表明,优化后的静态定位精度平均值为0.0634m,改进后的动态定位精度精确到8cm的概率是原先TDOA算法的3.7倍。所搭建的定位试验平台满足温室农用车辆定位的实际应用要求,可为温室环境下农用车辆的定位和导航提供参考。
LIN Xiangze  WANG Xiang  LIN Caixin  GENG Jing  XUE Jinlin  ZHENG Enlai
Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University and Nanjing Agricultural University
Key Words:greenhouse  precise positioning  UWB  K-means  optimization
Abstract:An ultra wide band indoor positioning platform was developed to improve the positioning accuracy of agricultural vehicle in a greenhouse environment. Firstly, based on Ubisense radio frequency chip, a positioning platform tag and a base station were designed. The position data were obtained by location ranging method named time difference of arrival (TDOA). Then, in order to get accurate positioning information and meet the needs of precise positioning for agricultural vehicle in greenhouse, K-means clustering and segmentation processing method were applied for the optimization calculation of static and dynamic positioning data respectively. In this procedure, the measurement errors, which were caused by propagation characteristics of pulse signal and the single ranging method, were decreased. Finally, static and dynamic positioning tests were conducted under the greenhouse environment respectively. The experimental results showed that the optimized static positioning accuracy was 0.0634m. Meanwhile, the probability of the dynamic positioning accuracy, which was no more than 8cm gotten by virtue of the dynamic precision positioning algorithm can be increased by 3.7 times than that of the original Ubisense positioning platform. Hence, the platform built can meet the practical application requirements. The research provided a reference for the positioning, navigation and intelligent refinement operation of agricultural vehicle in the greenhouse.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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