中文摘要：

准确、可靠的位置信息是进行农业车辆自主导航的前提,内、外部传感器信息融合常用于获得车辆定位信息。利用各种卡尔曼滤波算法,融合多传感器信息进行车辆定位最为常用。通过建立卡尔曼滤波器系统模型,进行了里程计、陀螺仪和电子罗盘多个传感器信息卡尔曼滤波融合试验。试验结果对比显示,融合后的车辆自定位精度大大提高。

英文摘要：

Accurate and reliable location information is the basis for the autonomous navigation of off-road vehicle, and information fusion of internal and external sensors is often used to solve vehicle positioning problem. At present, the most widely used vehicle muhi-sensor fusion and localization algorithm is Kalman filter algorithm. In this paper, a Kalman filter system model is established, and the information fusion test is carried out for the multi sensors of the speedometer data, gyroscope and electronic compass. The experimental results show that the self positioning accuracy of multi sensor fusion is greatly improved.