On the problem of increasing accuracy of coordinates determination of a machine-tractor unit by information and navigation equipment of a parallel driving system

Abstract

BACKGROUND: The Federal Scientific and Technical Program for the Development of Agriculture on 20172025 deals with the creation and implementation of competitive domestic technologies based on the scientific achievements. Therefore, the development and investigation of parallel driving systems for a machine-tractor unit with information and navigation equipment in the direction of increasing their accuracy of coordinates determination are relevant.
 AIMS: Improving the accuracy of coordinates determination of the software and hardware complex for the parallel driving system based on algorithms for correcting and filtering information data of navigation equipment.
 METHODS: The simulation of the machine-tractor unit (MTU) is carried out in MATLAB/Simulink and contains the models of physical modules of coordinates correction for cases of tilt, geographic coordinates transformation into plane coordinates, orientation and velocity of the machine-tractor unit and the Kalman filter.
 RESULTS: Using the proposed mathematical model, a simulation of a machine-tractor unit operation with a parallel driving system is carried out. The adequacy of theoretical studies is confirmed by large-scale bench and field tests. The scientific novelty of the study lies in the proposed algorithms for correction of datas obtained from GPS/GLONASS receivers (computer program registration certificate No. 2019617131), the implementation of the 3D visualization of the machine unit on a tablet screen with the Android operating system (computer program registration certificate Nos. 2018613106 and 2020613458).
 CONCLUSIONS: The practical meaning of the present study lies in usability of the proposed algorithms for corrections and filtration of navigation equipment data under creating modern hardware and software systems for parallel driving of a machine-tractor unit.