RT info:eu-repo/semantics/article T1 A Simple Method to Improve Autonomous GPS Positioning for Tractors A1 Gómez Gil, Jaime A1 Alonso Garcia, Sergio A1 Gómez Gil, Francisco Javier A1 Stombaugh, Tim K1 agricultural vehicles K1 control K1 Global Positioning System (GPS) K1 guidance K1 Mechanical engineering K1 Ingeniería mecánica 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 YR 2011 FD 2011-06 LK http://hdl.handle.net/10259/4371 UL http://hdl.handle.net/10259/4371 LA eng NO regional 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) DS Repositorio Institucional de la Universidad de Burgos RD 28-mar-2024