作者机构：
[谢方平; 任述光; 王修善; 刘大为; 李旭] College of Engineering Hunan Agriculture University, Changsha, China;[陈立永] Hunan Nongguang Agricultural Equipment Limited company, Loudi, China;[谢方平; 任述光; 王修善; 刘大为; 李旭] Collaborative Innovation Center of Southern Chinese Grain and Oilseed, Changsha, China;[谢方平; 任述光] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha, China
通讯机构：
College of Engineering Hunan Agriculture University, Changsha, China
作者机构：
[吴明亮; 徐玉娟; 向伟] Collage of Engineering, Hunan Agricultural University, Changsha, China;[官春云] Oilseeds Crops Institute, Hunan Agricultural University, Changsha, China;[吴明亮; 官春云; 徐玉娟; 向伟] Southern Regional Collaborative Innovation Center for Grain and Oil Crops in China, Changsha, China;[吴明亮; 徐玉娟; 向伟] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha, China
通讯机构：
Collage of Engineering, Hunan Agricultural University, Changsha, China
作者机构：
[汤楚宙; 罗海峰; 吴明亮; 李明; 李中秋] College of Engineering, Hunan Agricultural University, Changsha, 410128, China;[张海清] College of Agronomy, Hunan Agricultural University, Changsha, 410128, China;[何菊英] Long Ping High-Tech Co. Ltd, Changsha, 410000, China;[李明; 罗海峰; 吴明亮; 张海清] Collaborative Innovation Center for Grain and Oil Crops in South China, Changsha, 410128, China;[汤楚宙; 罗海峰; 吴明亮; 李明] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha, 410128, China
通讯机构：
College of Engineering, Hunan Agricultural University, Changsha, China
作者机构：
[罗锡文; 向阳; Zeng, Shan; 臧英; 杨文武] College of Engineering, South China Agricultural University, Guangzhou, China;[向阳] College of Engineering, Hunan Agricultural University, Changsha, China
通讯机构：
College of Engineering, South China Agricultural University, Guangzhou, China
作者机构：
[刘大为; 王小龙; 谢方平; 李旭] College of Engineering, Hunan Agricultural University, Changsha, China;[谢方平] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha, China
通讯机构：
College of Engineering, Hunan Agricultural University, Changsha, China
作者机构：
[陆翔; 毕源; 陈友明] College of Civil Engineering, Hunan University, Changsha, China;[周娟] College of Engineering, Hunan Agricultural University, Changsha, China;[陆翔; 毕源; 陈友明] Key Laboratory of Building Safety and Energy Efficiency, MOE, Changsha, China
通讯机构：
College of Civil Engineering, Hunan University, Changsha, China
作者机构：
[郑克仁; 周锡玲; 傅强; 谢友均; 宋昊] School of Civil Engineering, Central South University, Changsha 410075, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha 410128, China
通讯机构：
School of Civil Engineering, Central South University, China
作者机构：
[周锡玲; 傅强; 谢友均; 宋昊] School of Civil Engineering, Central South University, Changsha, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha, China
通讯机构：
School of Civil Engineering, Central South University, Changsha, China
作者机构：
[罗海峰; 罗江河; 肖名涛; 吴畏; 孙松林] School of Engineering, Hunan Agricultural University, Changsha, China;[罗海峰; 肖名涛; 孙松林; 吴畏] Hunan Modern Agricultural Machinery Engineering and Technology Research Center, Changsha, China
通讯机构：
School of Engineering, Hunan Agricultural University, Changsha, China
作者机构：
[郑克仁; 周锡玲; 傅强; 谢友均; 宋昊] School of Civil Engineering, Central South University, Changsha, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha, China
通讯机构：
School of Civil Engineering, Central South University, Changsha, China
作者机构：
[谢友均; 龙广成; 张胜; 傅强; 周锡玲] School of Civil Engineering, Central South University, Changsha, Hunan, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha, Hunan, China;[张胜] College of Basic Education for Commanding Officers, National University of Defense Technology, Changsha, Hunan, China
通讯机构：
School of Civil Engineering, Central South University, Changsha, Hunan, China
作者机构：
[郑克仁; 傅强; 谢友均; 周锡玲; 蔡锋良] School of Civil Engineering, Central South University, Changsha, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha, China
通讯机构：
School of Civil Engineering, Central South University, Changsha, China
作者机构：
[郑克仁; 傅强; 谢友均; 周锡玲; 蔡锋良] School of Civil Engineering, Central South University, Changsha 410075, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha 410128, China
通讯机构：
School of Civil Engineering, Central South University, China
作者机构：
[蔡锋良; 郑克仁; 周锡玲; 谢友均] School of Civil Engineering, Central South University, Changsha 410075, China;[周锡玲] College of Engineering, Hunan Agriculture University, Changsha 410128, China
通讯机构：
School of Civil Engineering, Central South University, China
作者机构：
[Li, Ming; Li, Junzheng; Wu, Bin; Wu, Wei] College of Engineering, Hunan Agricultural University, Changsha 410128, China;[Imou, Kenji] Biological and Environmental Mechanism Lab, University of Tokyo, Tokyo 113-8657, Japan;[Li, Ming; Li, Junzheng; Wu, Bin; Wu, Wei] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha 410128, China;[Li, Ming; Liu, Zhonghua] National Research Center of Engineering Technology for Functional Ingredients from Botanicals, Changsha 410128, China
通讯机构：
College of Engineering, Hunan Agricultural University, China
关键词：
农业机械;定位;传感器;导航
摘要：
农业机械全方位视觉定位系统根据标识方位角角度估算传感器相对于标识坐标系的绝对位置,包括系统校正、除噪、标识特征提取、方位角度估算和定位算法,其中定位算法是实现农业机械全方位视觉定位系统的关键部分.该文主要研究了4个标识和3个标识的定位算法,并通过室外30 m×30 m 平地上的定点试验和传感器倾斜试验验证定位精度及传感器倾斜对定位精度的影响.试验结果表明,试验点坐标的估算值与实测值之间距离的均方根误差与平均绝对误差分别为14.75和14.06 cm,最大绝对误差为25.72 cm;倾斜角度越大,对定位精度的影响越大.研究表明本文定位算法是可行的,且算法简单、运行速度快;实用中当传感器倾斜角度大于5°或者凹凸不平明显的作业环境中,有必要考虑传感器倾斜造成的定位误差的补偿.
作者机构：
[杨文敏; 谢方平*; 刘科; 孙松林; 李仲恺; 叶强] College of Engineering, Hunan Agriculture University, Changsha 410128, China;[谢方平*; 杨文敏; 孙松林] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha 410128, China;[杨国顺] College of Horticulture and Landscape, Hunan Agriculture University, Changsha 410128, China
通讯机构：
College of Engineering, Hunan Agriculture University, China
摘要：
Precision location technology is one of basic technologies to realize the farmland working machine automatic driving and prescription agriculture; it is an important content of modern intelligent agricultural machinery research. In order to study a low-cost and high-precision location system which can be applied in the small machine worked in the south paddy field, the study proposed a double laser sources location technology. With the known distance between two laser emitter, the dynamic emission angle of laser emitter can be acquired and the location coordinate of the moving machine can be accumulated. Then the real-time coordinate information and moving attitude also can be obtained. It lays a foundation for unmanned working machine and data acquisition from fixed-point in the paddy field. First, the principle of laser location was introduced in the paper, and it focused on the design of mechanical structure and controlling unit. Then, the automatic tracking and location experiment was carried when the system was fixed on the rice transplanter. And the experiment shows, the distance shifting of tracking curve is less than 7cm in the measurement of 100m, and the advantage of the high precision, low cost and high portability is very suitable for the location requirement of south farmland working machine.
作者机构：
[蒋蘋; 罗亚辉; 胡文武; 吴畏] College of Engineering, Hunan Agricultural University, Changsha 410128, China;[蒋蘋; 罗亚辉] Hunan Provincial Engineering Technology Research Center for Modern Agricultural Equipment, Changsha 410128, China
通讯机构：
College of Engineering, Hunan Agricultural University, China
