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Título : A Kalman Filter Implementation for Precision Improvement in Low-Cost GPS Positioning of Tractors
Autor : Gómez Gil, Jaime
Ruiz González, Rubén
Alonso Garcia, Sergio
Gómez Gil, Francisco Javier
Publicado en: Sensors. 2013, V. 13, n. 11, p. 15307-15323
Editorial : MDPI
Fecha de publicación : nov-2013
ISSN : 1424-8220
DOI: 10.3390/s131115307
Resumen : Low-cost GPS receivers provide geodetic positioning information using the NMEA protocol, usually with eight digits for latitude and nine digits for longitude. When these geodetic coordinates are converted into Cartesian coordinates, the positions fit in a quantization grid of some decimeters in size, the dimensions of which vary depending on the point of the terrestrial surface. The aim of this study is to reduce the quantization errors of some low-cost GPS receivers by using a Kalman filter. Kinematic tractor model equations were employed to particularize the filter, which was tuned by applying Monte Carlo techniques to eighteen straight trajectories, to select the covariance matrices that produced the lowest Root Mean Square Error in these trajectories. Filter performance was tested by using straight tractor paths, which were either simulated or real trajectories acquired by a GPS receiver. The results show that the filter can reduce the quantization error in distance by around 43%. Moreover, it reduces the standard deviation of the heading by 75%. Data suggest that the proposed filter can satisfactorily preprocess the low-cost GPS receiver data when used in an assistance guidance GPS system for tractors. It could also be useful to smooth tractor GPS trajectories that are sharpened when the tractor moves over rough terrain.
Palabras clave: Kalman filter
agricultural vehicle
Global Positioning System (GPS)
vehicle guidance
sensor data fusion
autonomous navigation
Materia: Ingeniería mecánica
Mechanical engineering
Licencia: http://creativecommons.org/licenses/by/3.0/
URI : http://hdl.handle.net/10259/4373
Versión del editor: http://dx.doi.org/10.3390/s131115307
Aparece en las colecciones: Artículos iAM

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