An Integrated Navigation Method Based on an Adaptive Federal Kalman Filter for a Rice Transplanter

Highlights An integrated GPS/INS/VNS navigation system was developed to improve accuracy. adaptive federal Kalman filter with information distribution factors used fuse information. Detection of seedling row lines achieved based on subregional feature points clustering. A modified rice transplanter as an experimental platform for automatic navigation. Abstract . In this article, global positioning (GPS), inertial (INS), and visual (VNS) method (KF) is presented accuracy a operating in paddy field. The proposed GPS/VNS aid the INS reduce influence accumulated error KF algorithm designed from different sensors. factor each local obtained adaptively basis its own covariance matrix. Computer simulation tests were conducted verify method. Results showed that provided accurate reliable outputs better performance compared single GPS conventional KF. Keywords: Federal filter, GPS/INS/VNS, Information factor, fusion, Integrated