摘要：This paper develops a real-time turning angle acquisition method based on tri-axial acceleration sensor for an agricultural robot. And the radial and the tangent method are proposed to calculate the turning angle, which are different from existing algorithms. And the objective is to fulfill the automatic turning at end of the field or in uncropped land, and reduce the cost of the conventional inertial navigation system of agricultural robot. The moving filter is employed to improve the stability of output data of tri-axial acceleration sensor, the window size of which is set 15 or 27 points to produce good filtering effect. Furthermore, the velocity correction process is proposed to reduce the effect on the turning angle. The first set of data is collected through the simulation designed in this paper and used to obtain the error law of turning angle of the agricultural robot; the second set of data is collected to test the algorithms presented in this paper. Then the radial method and the tangent method are compared analytically. And the experimental results show that the error mean is 0.9517 degree with the standard deviation 2.4779 degree, and the time consumption being about 0.7ms for the tangent method. The error mean is 1.6268 degree with standard deviation 2.1703 degree, and the time consumption being about 0.5ms for the radial method. This research can provide a valuable reference for obtaining the turning angle based on tri-axial acceleration sensor for agricultural robot.
