Abstract: A data collecting and processing system was designed based on layered structure in order to meet the need of multi\|sensor data collecting for intelligent agricultural vehicle. The system was divided into 5 layers which included device layer， collecting layer， communication layer， data layer and data processing layer. Each of the layers was designed independently and provided some interfaces for neighbor layers. Normalized comprehensive distance algorithm （NCDA） was firstly used to reject abnormal data and mean filter was used to restrain noise data in data processing. Experiments showed that navigation data could be collected correctly and in real\|time. All of the sensors worked well. CAN bus protocol was reasonable. Layered structure was feasible. Abnormal data was rejected and noise data was restrained because of NCDA and mean filter.

Key words: layered structure, data collecting, normalized comprehensive distance algorithm, mean filter, CAN bus