Using the Matlab Software Package for Modeling the Inertial Measurement System of an Unmanned Agricultural Platform

A mathematical model of an unmanned agricultural platform is being built in the MatLab — Simulink environment, which takes into account kinematic and dynamic parameters that characterize the interaction of platform nodes with each other and with the surrounding terrain. A ready-made Simscape Mechanics package is used to describe the physical system. The possibility of using the constructed model to generate stochastic signals from micromechanical gyroscopes and accelerometers when the unmanned platform is moving along a selected area on the map is being investigated. The implementation of simulation modeling is obtained by converting an object assembly developed in CAD. The auxiliary role for conversion is performed by the ready-made Simscape Multibody Link plug-in installed in CAD. In addition to the model of the agricultural platform, an algorithm for modeling the forces of contact interaction of wheels with the ground is presented. The results of simulation and field experiments are presented, indicating the possibility of using the proposed approach to generate signals close to real gyroscopes and accelerometers. The ADIS 16480 and its technical parameters from the documentation were selected as the investigated inertial meter. The developed technology of simulation modeling of a real object can be expanded and used to verify algorithms for motion control of autonomous systems and navigation.

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