一个准确的车辆导航系统有利于实现大型农用机械的大面积作业,因此研究自动跟踪路径系统是当前必不可少的问题。许多车辆导航系统曾被研究过,包括二维和三维。它们用到的大部分传感器是根据相对于其工作信息环境而设计的,但这里用到的另一种传感器,就是基于GPS技术厘米精确度实时运动学接收器被利用在车辆导航系统中。把不同于定向传感器的GPS接收器应用在农用联合收获机的车辆导航系统中。根据控制理论我们所设计的控制器是为了实现直线跟踪任务,同时对联合收获机作了实验并验证了实验结果。 An accurate vehicle navigation system is conducive to large-scale operation of large agricultural machinery, so the study of automatic tracking path system is an essential issue. Many vehicle navigation systems have been studied, including 2D and 3D. Most of the sensors they use are designed based on their working information environment, but another sensor used here is based on GPS technology Centimeter accuracy Real-time kinematic receivers are used in car navigation systems. A GPS receiver different from the orientation sensor is used in a car navigation system of an agricultural combine harvester. According to the control theory, we designed the controller to achieve the task of straight-line tracking. At the same time, the experiment of combined harvester was carried out and the experimental results were verified.