Calibration of Odometric Parameters in the Tasks of Navigation and Automatic Motion Control of Unmanned Agricultural Machinery

The methodology, models, and algorithms for calibrating the parameters of the instrumental and geometric errors of the odometer and the steering angle sensor of land-based wheeled vehicles, in particular agricultural ones, are presented. Odometric parameters are calibrated using readings from low-accuracy inertial sensors, as well as information from the global satellite navigation system signal receiver, if available. Odometric parameters include the error of the odometer scale factor, misalignment of the instrument axes of the free-form inertial navigation system and the "measuring" axis of the odometer along the heading and pitch channels, the offset of the zero signal and the error in the scale factor of the DOP coefficient of the steering mechanism of the machine. The calibration problem is considered for two variants of structural arrangements of agricultural machines: classical and articulated. The results of applying the methodology and algorithms in field experiments are presented, as well as the results of covariance analysis of the estimability of odometric parameters depending on the nature of the object's movement. The proposed approaches have been tested on a representative set of simulation and real data and are used on many agricultural machines: tractors, combines, self-propelled mowers and self-propelled sprayers.

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