FIELD: agriculture; machine building.
SUBSTANCE: invention relates to automation of agricultural machines, in particular relates to a method for determining the spatial position of a vehicle based on GNSS-INS (Global Navigation Satellite Systems) and Inertial Navigation System using a single antenna. Method for determining the spatial position of a vehicle based on GNSS-INS using a single antenna includes the steps of: installation of a GNSS antenna in the center of mass and in the center of the vehicle and installation of a MEMS sensor measuring module IMU on the steering gear shaft of the vehicle; obtaining information on the position and speed of the vehicle using a GNSS antenna, obtaining information on the vehicle's angular velocity using an IMU measuring unit; computing the vehicle's attitude angle using a combination of an accelerometer and a gyroscope; calculating the heading angle of the vehicle based on the position, speed and vehicle's angular velocity. By combining a single GNSS antenna and an IMU/MEMS sensor with a small cost, the spatial position and direction can be determined based on the kinematic model of an agricultural vehicle. Method combines the advantages of short-term high accuracy of an IMU gyroscope and long-term high stability of a single GNSS antenna, to avoid the deviation that occurs when using a gyroscope, and to reduce noise in determining the spatial position based on GNSS.
EFFECT: higher accuracy of determining the spatial position of an agricultural vehicle.
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