To improve the positioning accuracy and reliability of autonomous navigation agricultural machinery and reduce the cost of high-precision positioning, an integrated navigation system based on Real-Time Dynamic Kinematic BeiDou Navigation Satellite System (RTK-BDS) and Inertial Navigation System (INS) is designed in this study. On the one hand, an autonomous navigation control board is designed and made in the system, which integrates BDS high-precision analysis module, Inertial Measurement Unit (IMU) module, and radio module, and realizes the integrated navigation algorithm on the control board. On the other hand, low-cost RTK technology is realized by building differential reference stations and vehicle-mounted mobile stations. Experiments are carried out on actual farm machinery under different road conditions including open road, signal-shielded road, and urban congested road. According to the angular velocity and acceleration information from INS and the position and velocity information from the BDS high-precision analysis module, the system uses Kalman filter algorithm for data fusion to calculate the precise position, velocity, and attitude information of agricultural machinery in real time. The experimental results show that the position error of the integrated navigation system on the open road is within 3 cm, the azimuth error is within 0.6°, and the inclination error is within 1°, all of which converge rapidly when encountering bad road conditions. It can be known from the experimental results that the RTK-BDS/INS integrated navigation system has high positioning accuracy, strong adaptive anti-interference ability, and low implementation cost of RTK technology, which provides a reliable way for automatic navigation control of agricultural machinery.

中文翻译：

---

基于RTK-BDS/INS的农机综合导航系统研究

为提高自主导航农机定位精度和可靠性，降低高精度定位成本，基于实时动态运动学北斗卫星导航系统（RTK-BDS）和惯性导航系统（INS）的组合导航系统在本研究中设计。一方面，系统设计制作了自主导航控制板，集成了北斗高精度分析模块、惯性测量单元（IMU）模块和无线电模块，在控制板上实现了综合导航算法。另一方面，通过构建差分参考站和车载移动站，实现低成本RTK技术。在不同路况下对实际农机进行试验，包括开阔道路、信号屏蔽道路和城市拥堵道路。系统根据惯性导航系统的角速度和加速度信息以及北斗高精度分析模块的位置速度信息，采用卡尔曼滤波算法进行数据融合，计算出真实农业机械的精确位置、速度和姿态信息。时间。实验结果表明，组合导航系统在开阔道路上的位置误差在3 cm以内，方位角误差在0.6°以内，倾角误差在1°以内，在遇到恶劣路况时都能快速收敛。从实验结果可以看出，RTK-BDS/INS组合导航系统具有定位精度高、自适应抗干扰能力强、RTK技术实现成本低等特点，