基于GPS和陀螺仪的水稻插秧机自动导航设计(3)

基于GPS和陀螺仪的水稻插秧机自动导航设计

Y.Nagasaka et al./Computers and Electronics in Agriculture43(2004)223–234225

Fig.1.Automated rice transplanter.

used with baud rates set at9600bps.A FOG sensor(JG-35FD,Japan Aviation Electronics Ind.Ltd.,Tokyo,Japan)was used to measure the yaw angle,and an inclination-measuring apparatus(JCS-7401,Japan Aviation Electronics Ind.Ltd.)comprised of three FOG sensors and three accelerometers was used to measure the roll and pitch angles.Table1shows the FOG sensor speci?cations and the inclination-measuring apparatus.

The GPS position data,yaw,roll and pitch angle data were transferred to a computer through an RS232C interface.The sampling rate was10Hz for the GPS,20Hz for the yaw angle,and25Hz for the roll and pitch angles.A one-chip-microcomputer generated10Hz output through the RS232C interface and triggered the sampling for the GPS,the FOG and

Fig.2.Schematic of an automated rice transplanting system.

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