RT info:eu-repo/semantics/article
T1 Performance assessment of no-fee GNSS augmentation systems for tractor guidance
A1 Gomez-Gil, Jaime
A1 Alonso-García, Angel
A1 Alonso-Garcia, Sergio
A1 Gomez-Gil, Fco. Javier
K1 GNSS
K1 Navegación por satélite
K1 Agricultura de precisión
K1 Guiado GNSS de tractores
K1 Tractor guidance
K1 GNSS augmentation system
K1 EGNOS
K1 GLIDE
K1 RTK
K1 VRS
K1 3102 Ingeniería Agrícola
K1 3311 Tecnología de la Instrumentación
AB This study assesses the performance of no-fee GNSS augmentation systems for tractor guidance. Five no-fee augmentation systems: EGNOS, GLIDE, RTK, VRS-NRTK, and on-site RTK were evaluated in both static and guidance tests over short- and long‑term periods using three GNSS receiver types: low-cost Navilock NL8022MP, mid-range Novatel Smart2, and high-end Harxon TS108PRO. Static tests recorded 24 h of position data from 14 receiver-augmentation configurations on a fixed surface. Guidance tests recorded trajectory data from the 14 configurations during straight-line guidance using a tractor equipped with two GNSS receivers, one under test and one high-precision reference. Results found that: (i) unaugmented GNSS resulted in guidance errors of 2–3 m, reduced below 1 m in pass-to-pass intervals shorter than 15 min; (ii) EGNOS reduced these guidance errors by ∼41%; (iii) GLIDE reduced guidance errors to below 20 cm for pass-to-pass intervals shorter than 15 min, with no long-term improvement; (iv) RTK guidance error decreased as baseline length shortened: >100 km yielded > 17 cm, 20–100 km yielded 3–20 cm, and < 20 km yielded 2–3 cm; (v) VRS-NRTK slightly outperformed RTK with similar baseline lengths; and (vi) on-site RTK enabled 1 cm guidance error. In summary: low-cost receivers without augmentation or with EGNOS result in metre-level errors; mid-range receivers with GLIDE deliver decimetre-level guidance errors in the short term; and high-end receivers using on-site RTK or VRS-NRTK on baselines up to 100 km achieve centimetre-level errors, enabling farmers to replicate tractor trajectories consistently year to year.
PB Elsevier
SN 0168-1699
YR 2026
FD 2026
LK https://uvadoc.uva.es/handle/10324/83781
UL https://uvadoc.uva.es/handle/10324/83781
LA eng
NO Jaime Gomez-Gil, Angel Alonso-Garcia, Sergio Alonso-Garcia, Fco. Javier Gomez-Gil, Performance assessment of no-fee GNSS augmentation systems for tractor guidance, Computers and Electronics in Agriculture, Volume 247, 2026, 111612, ISSN 0168-1699
NO Producción Científica
DS UVaDOC
RD 24-mar-2026