Development of a low-cost GPS/INS integrated system for tractor automatic navigation

作     者：Xiongzhe Han Hak-Jin Kim Chan Woo Jeon Hee Chang Moon Jung Hun Kim 

作者机构：Dept.of Biosystems and Biomaterials EngineeringCollege of Agriculture and Life SciencesSeoul National University.Seoul 08826Republic of Korea Unmanned Solutions Co.Seoul 06643Republic of Korea R&D InstituteTong Yang Moolsan Co.LTDChungcheongnam-do 32530Republic of Korea 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2017年第10卷第2期

页      面：123-131页

核心收录：

学科分类：0710[理学-生物学] 0810[工学-信息与通信工程] 08[工学] 081601[工学-大地测量学与测量工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0816[工学-测绘科学与技术] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：the Korea Evaluation Institute of Industrial Technology(10049017,2014-2016) Agricultural Robotics and Automation Research Center,Korea Institute of Planning and Evaluation for Technology in Food,Agriculture,Forestry and Fisheries(714002-7,2014-2016),Republic of Korea 

主　　题：global positioning system tractor automatic navigation sensor fusion Kalman filter inertial sensor heading angle 

摘      要：The use of low-cost single GPS receivers and inertial sensors for auto-guidance applications has been limited by their reduced accuracy and signal drift over time compared to real-time kinematic(RTK)differential GPS units and fiber-optic gyroscope(FOG)*** this study,a prototype low-cost GPS/INS integrated system consisting of a triangle-shaped array of three Garmin 19x GPS receivers and an Xsens inertial measurement unit(IMU)to improve the accuracy of position and heading angle measured with a single GPS receiver was developed.A triangular algorithm that uses data collected from the three single GPSs mounted on the angular points of a triangular frame was designed.A sensor fusion algorithm based on the Kalman filter combining the GPS and IMU data was developed by integrating position data and heading angles of a triangular array of GPS *** optimized values of two noise covariance matrixes(Q and R)for the Kalman filtering were determined using the Central Composite Design(CCD)*** compared to the use of a single Garmin GPS receiver,use of the developed GPS/INS system showed improved accuracy performance in terms of both position and heading angle,with reductions in root mean square errors(RMSEs)from 2.7 m to 0.64 m for position and from 8.9ºto 2.1ºfor heading *** accuracy improvements show new potential for agricultural auto-guidance applications.