Design and Experiment for Inter-Vehicle Communication Based on Dead-Reckoning and Delay Compensation in a Cooperative Harvester and Transport System

Fan Ding, Wenyu Zhang, Xiwen Luo, Zhigang Zhang (), Mingchang Wang, Hongkai Li, Mingda Peng and Liwen Hu
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Fan Ding: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Wenyu Zhang: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Xiwen Luo: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Zhigang Zhang: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Mingchang Wang: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Hongkai Li: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Mingda Peng: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China
Liwen Hu: Key Laboratory of the Ministry of Education of China for Key Technologies for Agricultural Machine and Equipment, South China Agricultural University, Guangzhou 510642, China

Agriculture, 2022, vol. 12, issue 12, 1-17

Abstract: To achieve high-frequency and effective inter-vehicle communication between harvesters and transport vehicles during cooperative harvesting, a protocol for wireless communication was designed by analyzing actual communication requirements. Two different wireless communication modes (radio and 4G) were selected for the hardware design; then, a Kalman Filter was designed based on real-time Dead-reckoning and inter-vehicle Communication data after delay Compensation (KFDCC). Finally, the relative longitudinal deviation between two vehicles was obtained and updated steadily at a 10 Hz frequency. By using the relative longitudinal deviation of two vehicles, calculated after aligning the UTC stamp with the local GNSS data from the harvester and transport vehicle as a comparative metric, accuracy evaluation experiments were conducted regarding radio and 4G. The maximum absolute errors of the KFDCC output value were 0.03783 and 0.07381 m, respectively, and the mean square errors were 0.00392 and 0.01317 m, respectively. Compared with systems without the KFDCC method, the mean square errors were reduced by 88.76% and 90.60%, respectively. The KFDCC method can also effectively solve the problems of data delay, packet loss, blockage, error, and so on, in wireless communication, and has short-time breakpoint endurance capabilities. Field experiments showed that the proposed method can provide accurate data support for the dynamic alignment and unloading processes of harvesters and transport vehicles, and it can also provide algorithmic support for real-time communication data fusion between different wireless communication modes. Overall, the inter-vehicle communication mode and data-processing method designed in this paper have good effects and adaptability, and they can guarantee that the whole process of autonomous harvesting operates properly.

Keywords: cooperative harvest; inter-vehicle communication; radio and 4G; Kalman filter; delay compensation; dead-reckoning (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
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