李继宇,张铁民,彭孝东,马学东,柯宙志,曾旭升.四旋翼飞行器农田位置信息采集平台设计与实验[J].农业机械学报,2013,44(5):202-206,212.
Li Jiyu,Zhang Tiemin,Peng Xiaodong,Ma Xuedong,Ke Zhouzhi,Zeng Xusheng.Collection Platform of Field Location Information Based on Four-rotor Aircraft[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(5):202-206,212.
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四旋翼飞行器农田位置信息采集平台设计与实验   [下载全文]
Collection Platform of Field Location Information Based on Four-rotor Aircraft   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.05.035
中文关键词:  农田位置信息  四旋翼飞行器  惯性测量系统  飞行采样
基金项目:国家高技术研究发展计划(863计划)资助项目(SS2013AA100303);机器人学国家重点实验室开放课题资助项目(RL2012—O02);广东省大学生科技创新项目211学科建设基金资助项目(1056411143)
作者单位
李继宇 华南农业大学 
张铁民 华南农业大学 
彭孝东 华南农业大学 
马学东 华南农业大学 
柯宙志 华南农业大学 
曾旭升 华南农业大学 
中文摘要:作为对传统农田信息采集方式的补充,提出了一种基于小型飞行器的采集方式。阐述了四旋翼飞行器的工作原理,并设计了农田信息采集平台,制作出的样机载重为3.5kg,滞空时间大于20min。设计了惯性测量系统,在测试翻滚角误差小于0.5°时确定融合算法权重系数K为12,利用PID闭环控制,实现3m高度悬停飞行的偏移误差不超过5m。在平台上搭载Trimble 5700型GPS接收机进行了实时数据采样实验,结果表明人工采样与飞行采样数据误差约为1.4m,表明该平台具有采集农田位置信息的基本能力
Li Jiyu  Zhang Tiemin  Peng Xiaodong  Ma Xuedong  Ke Zhouzhi  Zeng Xusheng
South China Agricultural University;South China Agricultural University;South China Agricultural University;South China Agricultural University;South China Agricultural University;South China Agricultural University
Key Words:Farmland location information  Four-rotor aircraft  Inertial measurement system  Flight sampling
Abstract:As a supplement to the traditional field information collection, a collection method based on small aircraft was presented. The working principle of the four-rotor aircraft was introduced. Collection platform structure contained five parts of the field information was designed. The prototype load was 3.5kg.The endurance time was longer than 20min. An inertial measurement system was also designed. The fusion algorithm weight coefficient K of the system was 12 in the test when roll angle error was less than 0.5°. PID closed loop control was used to achieve hover flight in the height of 3m and the offset error did not exceed 5m. The platform equipped with a GPS receiver Trimble 5700 for the real time data sampling experiments. The error between manual sampling and flight sampling data was 1.4m. It indicated that the platform had the basic capability of the acquisition of farmland location information. 

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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