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    Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10259/4371

    Título
    A Simple Method to Improve Autonomous GPS Positioning for Tractors
    Autor
    Gómez Gil, Jaime
    Alonso Garcia, Sergio
    Gómez Gil, Francisco JavierUBU authority Orcid
    Stombaugh, Tim
    Publicado en
    Sensors, 2011, V. 11, n. 6, p. 5630-5644
    Editorial
    MDPI
    Fecha de publicación
    2011-06
    Abstract
    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.
    Palabras clave
    agricultural vehicles
    control
    Global Positioning System (GPS)
    guidance
    Materia
    Mechanical engineering
    Ingeniería mecánica
    URI
    http://hdl.handle.net/10259/4371
    Versión del editor
    http://dx.doi.org/10.3390/s110605630
    Collections
    • Artículos iAM
    Attribution 3.0 Unported
    Documento(s) sujeto(s) a una licencia Creative Commons Attribution 3.0 Unported
    Files in this item
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    Gomez-Sensors_2011.pdf
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    741.2Kb
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