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oai:uvadoc.uva.es:10324/577682022-12-14T20:03:00Zcom_10324_1191com_10324_931com_10324_894col_10324_1379

Gómez Gil, Jaime Alonso García, Sergio Gómez Gil, Francisco Javier Stombaugh, Tim 2022-12-14T10:36:32Z 2022-12-14T10:36:32Z 2011 Sensors, 2011, vol. 11, n. 6, p. 5630-5644 1424-8220 https://uvadoc.uva.es/handle/10324/57768 10.3390/s110605630 5630 6 5644 Sensors 11 1424-8220 Producción Científica 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. Junta de Castilla y León, (Plan de Proyectos de Investigación autonómico 2010 - proyecto VA034A10-2) application/pdf eng MDPI info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by/3.0/ © 2011 The Author(s) Attribution 3.0 Unported Agricultural vehicles Control Global Positioning System (GPS) Guidance 33 Ciencias Tecnológicas A Simple method to improve autonomous GPS positioning for tractors info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion https://www.mdpi.com/1424-8220/11/6/5630 SI