METHOD OF UPGRADING ANGULAR POSITION OF AGRICULTURAL MACHINE BASED ON THE NINE-AXIS MEMS SENSOR Russian patent published in 2018 - IPC G01C21/00 A01B69/00 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measuring equipment and, in particular, relates to a method for updating the angular position of an agricultural machine based on a nine-axis MEMS sensor. Method for updating the angular position of an agricultural machine based on a nine-axis MEMS sensor includes: installation of a gyro error model, calibrating model of the ellipse of an electronic compass, and a seven-dimensional filter model based on the extended Kalman filter (EKF), and setting a vector of parameters corresponding to dynamic position of a vehicle (S1); data acquisition, including acceleration and angular velocity of the vehicle, and geomagnetic field intensity in real time (S2); calculating the angle, speed, position information and vehicle heading angle through the established gyro error model, electronic compass ellipse calibration model (S3); joint processing of data on the angle, speed, position and heading angle of the vehicle by means of the seven-dimensional model of the extended Kalman filter (EKF) (S4), and real-time updating of the dynamic angular position of the vehicle (S5).

EFFECT: high accuracy and reliability of determining the position of an agricultural machine based on the nine-axis MEMS sensor.

6 cl, 2 dwg