THE RESEARCH OF ATTITUDE AND HEADING REFERENCE SYSTEM AHRS500GA IN AGRICULTURAL NAVIGATION AND POSITIONING

摘要

In precision agriculture, roll angle and pitch angle of agricultural vehicle need to be considered. Attitude and Heading Reference System (AHRS) can accurately measure the roll angle, pitch angle and heading angle both in static and dynamic condition. In this paper, AHRS500GA was used to study its principle and application in precision agriculture. After brief introduction of research progresses of AHRS application in precision agriculture, the method to read data packets from AHRS500GA using MATLAB is introduced. The experimental platform based on a transplanter using GPS and AHRS500GA as navigation sensors was built and experiments, including unmanned transplanter straight path driving and headland turning control in field, were carried out on this platform. Experimental results showed that using AHRS500GA in agricultural navigation can accurately measure the attitude angles of the platform, and by using these angles as well as the GPS data, the mass center position of the platform can be corrected.