Yilong Li
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Research Interests
Yilong Li has a total of 4 co-authors. Here are the top co-authors by number of shared publications:
- Chao Ji
Mechanical Equipment Research Institute, Xinjiang Academy of Agricultural and Reclamation Science, Shihezi 832000, China
1 shared publication - Jiahui Sun
Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China
1 shared publication - Qingchun Feng
Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China
1 shared publication - Yu Sun
College of Mechanical and Electrical Engineering, Xinjiang Agricultural University, Urumqi 830025, China
1 shared publication
Latest Publications
- Open Access
- 11 April 2024
- Published by MDPI AG in Applied Sciences
- Vol. 14 (8) , 3231
GNSS and LiDAR Integrated Navigation Method in Orchards with Intermittent GNSS Dropout
Considering the vulnerability of satellite positioning signals to obstruction and interference in orchard environments, this paper investigates a navigation and positioning method based on real-time kinematic global navigation satellite system (RTK-GNSS), inertial navigation system (INS), and light detection and ranging (LiDAR). This method aims to enhance the research and application of autonomous operational equipment in orchards. Firstly, we design and integrate robot vehicles; secondly, we unify the positioning information of GNSS/INS and laser odometer through coordinate system transformation; next, we propose a dynamic switching strategy, whereby the system switches to LiDAR positioning when the GNSS signal is unavailable; and finally, we combine the kinematic model of the robot vehicles with PID and propose a path-tracking control system. The results of the orchard navigation experiment indicate that the maximum lateral deviation of the robotic vehicle during the path-tracking process was 0.35 m, with an average lateral error of 0.1 m. The positioning experiment under satellite signal obstruction shows that compared to the GNSS/INS integrated with adaptive Kalman filtering, the navigation system proposed in this article reduced the average positioning error by 1.6 m.
- 11 April 2024
- Published by MDPI AG in Applied Sciences
- Vol. 14 (8) , 3231
Open AccessGNSS and LiDAR Integrated Navigation Method in Orchards with Intermittent GNSS Dropout
Considering the vulnerability of satellite positioning signals to obstruction and interference in orchard environments, this paper investigates a navigation and positioning method based on real-time kinematic global navigation satellite system (RTK-GNSS), inertial navigation system (INS), and light detection and ranging (LiDAR). This method aims to enhance the research and application of autonomous operational equipment in orchards. Firstly, we design and integrate robot vehicles; secondly, we unify the positioning information of GNSS/INS and laser odometer through coordinate system transformation; next, we propose a dynamic switching strategy, whereby the system switches to LiDAR positioning when the GNSS signal is unavailable; and finally, we combine the kinematic model of the robot vehicles with PID and propose a path-tracking control system. The results of the orchard navigation experiment indicate that the maximum lateral deviation of the robotic vehicle during the path-tracking process was 0.35 m, with an average lateral error of 0.1 m. The positioning experiment under satellite signal obstruction shows that compared to the GNSS/INS integrated with adaptive Kalman filtering, the navigation system proposed in this article reduced the average positioning error by 1.6 m.