Design of Smart Seedling Planter Positioning and Navigation System Based on Multi-Sensor Fusion

To meet the demand for automation in agricultural production, a precision seedling planting robot system based on RTK-GNSS/IMU combined navigation is designed. The system uses STM32H743 to design the controller hardware, achieving positioning, navigation, and planting collaborative control. The experimental results show that the system has a horizontal positioning accuracy of 1.8cm, navigation control straight-line segment error of 1.6cm, planting depth error of 1.2cm, and seedling spacing error of 1.8cm. At an operating speed of 0.8m/s, the single-block operating efficiency reaches 0.42 hectares/hour, and the seedling survival rate is 98.2%, achieving the expected design goals.