Accurately obtaining roll angles is one of the key technologies to improve the positioning accuracy and operation quality of agricultural equipment. Given the demand for the acquisition of agricultural equipment roll angles, a roll angle monitoring model based on Kalman filtering and multi-source information fusion was established by using the MTi-300 AHRS inertial sensor (INS) and XW-GI 5630 BeiDou Navigation Satellite System (BDS), which were installed on agricultural equipment. Data of the INS and BDS were fused by MATLAB; then, Kalman filter was used to optimize the data, and the state equation and measurement equation of the integrated system were established. Then, an integrated monitoring terminal man-machine interactive interface was designed on MATLAB GUI, and a roll angle monitoring system based on the INS and BDS was designed and applied into field experiments. The mean absolute error of the integrated monitoring system based on multi-source information fusion during field experiments was 0.72°, which was smaller compared with the mean absolute errors of roll angle monitored by the INS and BDS independently (0.78° and 0.75°, respectively). Thus, the roll angle integrated model improves monitoring precision and underlies future research on navigation and independent operation of agricultural equipment.
Keywords: Kalman filter; agricultural equipment; roll angle; sensor data fusion.