Abstract
The current real-time detection of sowing depth has the problems of low detection accuracy and poor reliability. After analyzing the movement mechanism of the sowing monomer parallel four-bar linkage, an improved adaptive Kalman filtering method for sowing depth detection is proposed. The method uses two MPU6050 attitude sensors. The difference between the rotation angle of the parallel four-bar linkage and the attitude angle of the sowing monomer is used as the relative rotation angle of the parallel four-bar linkage relative to the sowing monomer. The sowing monomer parallel four-bar linkage has the characteristics of up–down translation, and sowing depth changes can be obtained by converting the angle data. By using moving average filter, particle filter, Kalman filter, and improved adaptive Kalman filter to fuse the data of MPU6050 in two positions and perform MATLAB simulation, the average mean squared errors of the above four filtering algorithms are 0.12645, 0.05545, 0.03785, and 0.0189, respectively. In the end, the experiment of sowing depth detection was carried out, and it was found that the improved adaptive Kalman filter algorithm detects the smallest sowing depth mean squared error, which is 0.0636, and the algorithm can track data changes better. At the same time, it is more adaptable to noise and obtains an ideal filtering effect.
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