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Estimación adaptativa de la orientación con restricciones de trayectoria para la navegación integrada de tractores

Shupeng Hu1, Song Chen2, Lihui Wang1

  • 1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China.

Sensors (Basel, Switzerland)
|January 28, 2026
PubMed
Resumen

Este estudio presenta un método adaptativo de estimación de la orientación para tractores que utilizan el Sistema Global de Navegación por Satélite (GNSS) y el Sistema de Navegación Inercial Strapdown (SINS). El nuevo enfoque mejora significativamente la precisión y reduce el tiempo de convergencia de los sistemas de navegación autónoma.

Palabras clave:
algoritmo adaptativonavegación autónomamedición de orientaciónsistema de navegación inercialtractor robotfusión de sensoresrestricción de trayectoria

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Área de la Ciencia:

  • Robótica y Automatización
  • Sistemas de Navegación
  • Ingeniería Agrícola

Sus antecedentes:

  • La estimación precisa de la orientación es vital para la navegación autónoma de tractores.
  • Los sistemas GNSS de doble antena son precisos pero tienen problemas de instalación y seguridad.
  • El GNSS/SINS de antena única ofrece adaptabilidad pero lucha con la convergencia lenta y la baja precisión a bajas velocidades en la agricultura.

Objetivo del estudio:

  • Proponer un método adaptativo de estimación de la orientación con restricciones de trayectoria para mejorar el rendimiento GNSS/SINS en tractores.
  • Abordar las limitaciones de los métodos existentes en entornos agrícolas de baja velocidad y baja dinámica.
  • Mejorar la precisión y la velocidad de convergencia de la estimación de la orientación para la navegación autónoma de tractores.

Principales métodos:

  • Desarrollo de un filtro de Kalman extendido adaptativo de ventana deslizante (SWAEKF) con un modelo de restricción de orientación utilizando el ángulo de trayectoria GNSS.
  • Empleo de un algoritmo Sage-Husa mejorado para la estimación adaptativa de la varianza de la medición del ángulo de trayectoria.
  • Implementación de una estrategia de inicialización de covarianza basada en incrementos del ángulo de trayectoria para acelerar la convergencia.

Principales resultados:

  • El SWAEKF logró una rápida convergencia de la orientación (menos de 10 s en líneas rectas, 14 s en curvas).
  • Se demostró una alta precisión con errores RMS de orientación por debajo de 0,15° (recta) y 0,25° (curva).
  • El SWAEKF mejoró la precisión en un 23 % y redujo el tiempo de convergencia en un 62 % en comparación con el EKF adaptativo convencional.

Conclusiones:

  • El método adaptativo propuesto con restricciones de trayectoria mejora significativamente la navegación integrada GNSS/SINS para tractores.
  • El algoritmo cumple eficazmente los exigentes requisitos de los sistemas de navegación autónoma en entornos agrícolas de baja dinámica.
  • Este método ofrece una solución robusta y eficiente para la guía precisa de tractores en operaciones agrícolas complejas.