Shanghai Huace Navigation Technology Ltd

Guangjie Cao

Kai Chen

Xuefeng Shen

Qiang Ren

Jiejun Wang

Rui Tu

Xianghui Che

Guangyang Dong

Wending Dai

Yanping Zhao

Anbang Wang

Xiaohan Gao

Xunye Mao

The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.

Method of determining GNSS-INS vehicle attitude based on single antenna

Disclosed is a hydraulic control valve assembly of automatic steering system for agricultural machine including a proportional directional valve (). A balancing valve () is arranged between the proportional directional valve () and the steering cylinder. A first shuttle valve () is arranged between the proportional directional valve () and the balancing valve (). The first shuttle valve () is positioned on one side of the proportional directional valve (). An overflow valve () is positioned on another side of the proportional directional valve (). The overflow valve () is connected to a second shuttle valve () and a logic valve () respectively. The hydraulic control valve assembly has a large control power, a rapid response, and is more suitable for the autonomous navigation operation of agricultural machine. Moreover, the system saves more energy, such that the autonomous navigation operation of agricultural machine is more stable.

Hydraulic control valve assembly of automatic steering system for agricultural machine

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Shanghai, China

Guangjie Cao