To overcome the limitations of existing methods in acquiring the vertical kinematic states of implements subject to vulnerable signal or operating surroundings, the Kalman filter was used to fuse a laser receiver's rough height indicated by photocell set and its acceleration to obtain the vertical displacement and velocity of the implement. This is called the Kalman filter based method for fusing laser receiver and accelerometer (KFLA). By using the linear motion transducer as a comparative metric, laboratory experiments of accuracy evaluation were conducted within the motion range of −77 to +77 and −11 to +11 mm, respectively. The maximum absolute errors of the displacement estimated by the KFLA were 14.6 mm and 5.7 mm, respectively; and the root mean square errors were 5.6 mm and 1.9 mm, respectively. Meanwhile, the velocity estimated by the KFLA showed similar but smoother variations than the displacement difference. Vertical height estimation result of the implement of a field-travelling levelling machine showed that the KFLA curve passed through the bars represented by the rough height and corresponding deviation with a higher frequency of 50 Hz. Above all, the KFLA could calculate the height of the implement when the motion was beyond the sensing range of the receiver, which showed the stable acquisition of sensing signal enables KFLA to be competent for measurement tasks operating in complex terrain. Overall, the KFLA is a promising method to estimate the kinematic states of the implements in indoor/outdoor environments, dryland, and paddy fields.

为了克服现有方法在易受信号或操作环境影响的情况下获取机具的垂直运动状态的局限性，卡尔曼滤波器用于融合激光接收器的光电池组指示的粗略高度及其加速度，以获得垂直位移和速度。工具。这称为用于融合激光接收器和加速度计（KFLA）的基于卡尔曼滤波器的方法。通过将线性运动传感器用作比较指标，分别在-77至+77和-11至+11 mm的运动范围内进行了准确性评估的实验室实验。由KFLA估算的位移的最大绝对误差分别为14.6 mm和5.7 mm。均方根误差分别为5.6 mm和1.9 mm。与此同时，KFLA估算的速度显示出比位移差相似但平滑的变化。野战平地机机具的垂直高度估计结果表明，KFLA曲线通过了以粗略的高度和相应的偏差表示的条，频率更高，为50 Hz。最重要的是，当运动超出接收器的感应范围时，KFLA可以计算机具的高度，这表明稳定获取感应信号使KFLA能够胜任复杂地形中的测量任务。总体而言，KFLA是一种估计室内/室外环境，旱地和稻田中农具运动状态的有前途的方法。野战平地机机具的垂直高度估计结果表明，KFLA曲线通过了以粗略的高度和相应的偏差表示的条，频率更高，为50 Hz。最重要的是，当运动超出接收器的感应范围时，KFLA可以计算机具的高度，这表明稳定获取感应信号使KFLA能够胜任复杂地形中的测量任务。总体而言，KFLA是一种估计室内/室外环境，旱地和稻田中农具运动状态的有前途的方法。野战平地机机具的垂直高度估计结果表明，KFLA曲线以较高的频率（50 Hz）通过以粗略的高度和相应的偏差表示的条。最重要的是，当运动超出接收器的感应范围时，KFLA可以计算机具的高度，这表明稳定获取感应信号使KFLA能够胜任复杂地形中的测量任务。总体而言，KFLA是一种估计室内/室外环境，旱地和稻田中农具运动状态的有前途的方法。最重要的是，当运动超出接收器的感应范围时，KFLA可以计算机具的高度，这表明稳定获取感应信号使KFLA能够胜任复杂地形中的测量任务。总体而言，KFLA是一种估计室内/室外环境，旱地和稻田中农具运动状态的有前途的方法。最重要的是，当运动超出接收器的感应范围时，KFLA可以计算机具的高度，这表明稳定获取感应信号使KFLA能够胜任复杂地形中的测量任务。总体而言，KFLA是一种估计室内/室外环境，旱地和稻田中农具运动状态的有前途的方法。