RT info:eu-repo/semantics/article
T1 A Simple method to improve autonomous GPS positioning for tractors
A1 Gómez Gil, Jaime
A1 Alonso García, Sergio
A1 Gómez Gil, Francisco Javier
A1 Stombaugh, Tim
K1 Agricultural vehicles
K1 Control
K1 Global Positioning System (GPS)
K1 Guidance
K1 33 Ciencias Tecnológicas
AB 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.
PB MDPI
SN 1424-8220
YR 2011
FD 2011
LK https://uvadoc.uva.es/handle/10324/57768
UL https://uvadoc.uva.es/handle/10324/57768
LA eng
NO Sensors, 2011, vol. 11, n. 6, p. 5630-5644
NO Producción Científica
DS UVaDOC
RD 18-nov-2024