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Título
A Simple method to improve autonomous GPS positioning for tractors
Año del Documento
2011
Editorial
MDPI
Descripción
Producción Científica
Documento Fuente
Sensors, 2011, vol. 11, n. 6, p. 5630-5644
Resumen
Error is always present in the GPS guidance of a tractor along a desired trajectory. One way to reduce GPS guidance error is by improving the tractor positioning. The most commonly used ways to do this are either by employing more precise GPS receivers and differential corrections or by employing GPS together with some other local positioning systems such as electronic compasses or Inertial Navigation Systems (INS). However, both are complex and expensive solutions. In contrast, this article presents a simple and low cost method to improve tractor positioning when only a GPS receiver is used as the positioning sensor. The method is based on placing the GPS receiver ahead of the tractor, and on applying kinematic laws of tractor movement, or a geometric approximation, to obtain the midpoint position and orientation of the tractor rear axle more precisely. This precision improvement is produced by the fusion of the GPS data with tractor kinematic control laws. Our results reveal that the proposed method effectively reduces the guidance GPS error along a straight trajectory.
Materias Unesco
33 Ciencias Tecnológicas
Palabras Clave
Agricultural vehicles
Control
Global Positioning System (GPS)
Guidance
ISSN
1424-8220
Revisión por pares
SI
Patrocinador
Junta de Castilla y León, (Plan de Proyectos de Investigación autonómico 2010 - proyecto VA034A10-2)
Version del Editor
Propietario de los Derechos
© 2011 The Author(s)
Idioma
eng
Tipo de versión
info:eu-repo/semantics/publishedVersion
Derechos
openAccess
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La licencia del ítem se describe como Attribution 3.0 Unported