自動導航器應用於農用車輛導引系統之基礎研究

Application of Autopilot Guidance Systems for Agricultural Vehicles

陳伯騏(Bor-Chy Chen) ； 葉仲基(Chung-Kee Yeh)

《中華農學會報》 8卷6期 (2007/12) Pp. 585-598

https://doi.org/10.6730/JAAC.200712_8(6).0007

摘要

本研究乃將自動導航器（ComNav公司Autopilot 1001）安裝在一模擬機構上，並進行測試與分析，然後評估將該導航器應用在農用車輛，使其具有自動導引功能的可行性。
模擬機構為人研究之主體，係由自動導航器、轉向裝置、無刷馬達和GPS接收機等所組成。應用相關軟體可將GPS接收機內的數據資料下戰至電腦中，然後進行資料的轉檔，最後再進行分析、繪圖和套疊的工作。
實驗分為自線導航與衛星導航兩部分：在直線導航中，修改自動導航器Pilot模式下的rud、ctr、yau和trn四個參數，藉以找出直線行進時較理想的狀況，此時的GPS接收機僅做為接收衛星訊號並記錄之用。而在衛星導航中則事先選定了五個航點座標，並使用兩台GPS接收機，其中一台做為導航之用，使模擬機構往航點的方向行進，而另一台則做共為記錄航跡點座標之用。
測試結果發現：直線導航的較佳狀況是rud、ctr、yau和trn四個參數分別為(2,2,2,7)，此時的平均偏移量為1.247公尺；而在衛星導航中，較佳情形則是A、B航點間的第一段路線，平均偏移量僅1.188公尺。

關鍵字

自動導航器 ； 模擬機構 ； GPS接收機

並列摘要

In this study a Autopilot (ComNav Co., type 1001) was installed n a simulated mechanism and its performance was analyzed in order to see whether it was feasible for use as an automatic guidance system for agricultural vehicles in the field.
This simulated mechanism was the main focus of this study. It consised of an Autopilot, a steering device, a brushless motor, and a GPS receiver. With suitable sol ware, the positioning data could be downloaded from GPS receivers to a computer for further analysis, charting and other processing.
The experiment was divided into two parts: linear guidance and waypoint guidance by satellite. In order to get a better result for linear guidance, the four parameters ”rud”, ”ctr”, ”yau”, and ”trn” of the Pilot model for Autopilot were properly selected. Here, the GPS receiver was used only for collection of satellite signals and storage of data. In testing the waypoint guidance by satellite, five waypoints were chosen at first. A GPS receiver was used for guidance and the simulated mechanism would be toward these waypoints in sequence. Another CPS receiver was needed for data recording.
The results from the experiment of linear guidance showed that an combination of four parameters ”rud”, ”ctr”, ”yau”, and ”trn” of (2,2,2,7) was a good choice, with an average path deviation of 1.247m. The results from the experiment on waypoint guidance by satellite showed that the first route, from waypoint A to waypoint B, had a good state, with an average path deviation of 1.188m.

並列關鍵字

Autopilot ； Simulated Mechanism ； GPS Receiver