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A low-cost GPS/INS Integrated System for an Auto Guided Tractor

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2015 ASABE Annual International Meeting  152188888.(doi:10.13031/aim.20152188888)
Authors:   Xiong Zhe Han, Hak-Jin Kim, Chan Woo Jeon, Hee Chang Moon, Jung Hun Kim
Keywords:   Global positioning system, Sensor fusion, Kalman filter, Inertial sensor, Position, Heading angle

Abstract. Use of low-cost single GPS receivers and inertial sensors has been limited by reduced accuracy and signal drift over time, as compared to those obtained with a real-time kinematic (RTK) differential GPS unit and a fiber-optic gyroscope (FOG) sensor. In this study, a low-cost GPS/INS integrated system was developed that consists of three Garmin 19x GPS receivers and a DAS integrated inertial measurement unit (IMU. A triangular algorithm that uses data collected from the three single GPSs was designed. A sensor fusion algorithm based on the Kalman Filter (EKF) was developed by integrating position data and orientation angles of a triangular-shape GPS system. The evaluation test of GPS/INS integrated system was carried out on paved roads at two different sites. When using the developed GPS/INS system, the accuracy performances of position and heading angle were improved, showing reductions in position and heading angle RMSEs from 2.7 to 0.64 m and from 8.9 to 3.6 deg, respectively, as compared to those measured with single Garmin GPS receivers.

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