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dc.contributor.authorGómez Gil, Jaime
dc.contributor.authorAlonso Garcia, Sergio
dc.contributor.authorGómez Gil, Francisco Javier 
dc.contributor.authorStombaugh, Tim
dc.date.accessioned2017-03-16T11:07:08Z
dc.date.available2017-03-16T11:07:08Z
dc.date.issued2011-06
dc.identifier.urihttp://hdl.handle.net/10259/4371
dc.description.abstractError 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.en
dc.description.sponsorshipregional 2010 Research Project Plan of the Junta de Castilla y León, (Spain), under project VA034A10-2. It was also partially supported by the 2009 ITACyL project entitled ―Realidad aumentada, Bci y correcciones RTK en red para el guiado GPS de tractores (ReAuBiGPS)en
dc.format.mimetypeapplication/pdf
dc.language.isoenges
dc.publisherMDPIen
dc.relation.ispartofSensors, 2011, V. 11, n. 6, p. 5630-5644en
dc.rightsAttribution 3.0 Unported
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/
dc.subjectagricultural vehiclesen
dc.subjectcontrolen
dc.subjectGlobal Positioning System (GPS)en
dc.subjectguidanceen
dc.titleA Simple Method to Improve Autonomous GPS Positioning for Tractorsen
dc.typeArtículoes
dc.typeinfo:eu-repo/semantics/article
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess
dc.relation.publisherversionhttp://dx.doi.org/10.3390/s110605630
dc.type.hasVersioninfo:eu-repo/semantics/publishedVersionen


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