A Simple Method to Improve Autonomous GPS Positioning for Tractors
Identifieur interne : 000752 ( Main/Merge ); précédent : 000751; suivant : 000753A Simple Method to Improve Autonomous GPS Positioning for Tractors
Auteurs : Jaime Gomez-Gil ; Sergio Alonso-Garcia ; Francisco Javier G Mez-Gil ; Tim StombaughSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2011.
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.
Url:
DOI: 10.3390/s110605630
PubMed: 22163917
PubMed Central: 3231444
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 000588
- to stream Pmc, to step Curation: 000588
- to stream Pmc, to step Checkpoint: 000379
- to stream PubMed, to step Corpus: 000312
- to stream PubMed, to step Curation: 000312
- to stream PubMed, to step Checkpoint: 000312
- to stream Ncbi, to step Merge: 000763
- to stream Ncbi, to step Curation: 000763
- to stream Ncbi, to step Checkpoint: 000763
Links to Exploration step
PMC:3231444Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Simple Method to Improve Autonomous GPS Positioning for Tractors</title><author><name sortKey="Gomez Gil, Jaime" sort="Gomez Gil, Jaime" uniqKey="Gomez Gil J" first="Jaime" last="Gomez-Gil">Jaime Gomez-Gil</name><affiliation><nlm:aff id="af1-sensors-11-05630"> Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, 47011 Valladolid, Spain; E-Mail:<email>salonsog@ribera.tel.uva.es</email></nlm:aff></affiliation></author><author><name sortKey="Alonso Garcia, Sergio" sort="Alonso Garcia, Sergio" uniqKey="Alonso Garcia S" first="Sergio" last="Alonso-Garcia">Sergio Alonso-Garcia</name><affiliation><nlm:aff id="af1-sensors-11-05630"> Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, 47011 Valladolid, Spain; E-Mail:<email>salonsog@ribera.tel.uva.es</email></nlm:aff></affiliation></author><author><name sortKey="G Mez Gil, Francisco Javier" sort="G Mez Gil, Francisco Javier" uniqKey="G Mez Gil F" first="Francisco Javier" last="G Mez-Gil">Francisco Javier G Mez-Gil</name><affiliation><nlm:aff id="af2-sensors-11-05630"> Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain; E-Mail:<email>fjggil@ubu.es</email></nlm:aff></affiliation></author><author><name sortKey="Stombaugh, Tim" sort="Stombaugh, Tim" uniqKey="Stombaugh T" first="Tim" last="Stombaugh">Tim Stombaugh</name><affiliation><nlm:aff id="af3-sensors-11-05630"> Biosystems and Agricultural Engineering Department, University of Kentucky, Lexington, KY 40546, USA; E-Mail:<email>tstomb@bae.uky.edu</email></nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">22163917</idno><idno type="pmc">3231444</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231444</idno><idno type="RBID">PMC:3231444</idno><idno type="doi">10.3390/s110605630</idno><date when="2011">2011</date><idno type="wicri:Area/Pmc/Corpus">000588</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Corpus" wicri:corpus="PMC">000588</idno><idno type="wicri:Area/Pmc/Curation">000588</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Curation">000588</idno><idno type="wicri:Area/Pmc/Checkpoint">000379</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Checkpoint">000379</idno><idno type="wicri:source">PubMed</idno><idno type="wicri:Area/PubMed/Corpus">000312</idno><idno type="wicri:explorRef" wicri:stream="PubMed" wicri:step="Corpus" wicri:corpus="PubMed">000312</idno><idno type="wicri:Area/PubMed/Curation">000312</idno><idno type="wicri:explorRef" wicri:stream="PubMed" wicri:step="Curation">000312</idno><idno type="wicri:Area/PubMed/Checkpoint">000312</idno><idno type="wicri:explorRef" wicri:stream="Checkpoint" wicri:step="PubMed">000312</idno><idno type="wicri:Area/Ncbi/Merge">000763</idno><idno type="wicri:Area/Ncbi/Curation">000763</idno><idno type="wicri:Area/Ncbi/Checkpoint">000763</idno><idno type="wicri:Area/Main/Merge">000752</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">A Simple Method to Improve Autonomous GPS Positioning for Tractors</title><author><name sortKey="Gomez Gil, Jaime" sort="Gomez Gil, Jaime" uniqKey="Gomez Gil J" first="Jaime" last="Gomez-Gil">Jaime Gomez-Gil</name><affiliation><nlm:aff id="af1-sensors-11-05630"> Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, 47011 Valladolid, Spain; E-Mail:<email>salonsog@ribera.tel.uva.es</email></nlm:aff></affiliation></author><author><name sortKey="Alonso Garcia, Sergio" sort="Alonso Garcia, Sergio" uniqKey="Alonso Garcia S" first="Sergio" last="Alonso-Garcia">Sergio Alonso-Garcia</name><affiliation><nlm:aff id="af1-sensors-11-05630"> Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, 47011 Valladolid, Spain; E-Mail:<email>salonsog@ribera.tel.uva.es</email></nlm:aff></affiliation></author><author><name sortKey="G Mez Gil, Francisco Javier" sort="G Mez Gil, Francisco Javier" uniqKey="G Mez Gil F" first="Francisco Javier" last="G Mez-Gil">Francisco Javier G Mez-Gil</name><affiliation><nlm:aff id="af2-sensors-11-05630"> Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain; E-Mail:<email>fjggil@ubu.es</email></nlm:aff></affiliation></author><author><name sortKey="Stombaugh, Tim" sort="Stombaugh, Tim" uniqKey="Stombaugh T" first="Tim" last="Stombaugh">Tim Stombaugh</name><affiliation><nlm:aff id="af3-sensors-11-05630"> Biosystems and Agricultural Engineering Department, University of Kentucky, Lexington, KY 40546, USA; E-Mail:<email>tstomb@bae.uky.edu</email></nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>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.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Keicher, R" uniqKey="Keicher R">R Keicher</name></author><author><name sortKey="Seufert, H" uniqKey="Seufert H">H Seufert</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Reid, Jf" uniqKey="Reid J">JF Reid</name></author><author><name sortKey="Zhang, Q" uniqKey="Zhang Q">Q Zhang</name></author><author><name sortKey="Noguchi, N" uniqKey="Noguchi N">N Noguchi</name></author><author><name sortKey="Dickson, M" uniqKey="Dickson M">M Dickson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Slaughter, Dc" uniqKey="Slaughter D">DC Slaughter</name></author><author><name sortKey="Giles, Dk" uniqKey="Giles D">DK Giles</name></author><author><name sortKey="Downey, D" uniqKey="Downey D">D Downey</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Tillett, Nd" uniqKey="Tillett N">ND Tillett</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Auernhammer, H" uniqKey="Auernhammer H">H Auernhammer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, N" uniqKey="Zhang N">N Zhang</name></author><author><name sortKey="Wang, M" uniqKey="Wang M">M Wang</name></author><author><name sortKey="Wang, N" uniqKey="Wang N">N Wang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kalman, Re" uniqKey="Kalman R">RE Kalman</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="O Onnor, M" uniqKey="O Onnor M">M O’Connor</name></author><author><name sortKey="Bell, T" uniqKey="Bell T">T Bell</name></author><author><name sortKey="Elkaim, G" uniqKey="Elkaim G">G Elkaim</name></author><author><name sortKey="Parkinson, B" uniqKey="Parkinson B">B Parkinson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Cho, Si" uniqKey="Cho S">SI Cho</name></author><author><name sortKey="Lee, Jh" uniqKey="Lee J">JH Lee</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Stoll, A" uniqKey="Stoll A">A Stoll</name></author><author><name sortKey="Dieter Kutzbach, H" uniqKey="Dieter Kutzbach H">H Dieter Kutzbach</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Thuilot, B" uniqKey="Thuilot B">B Thuilot</name></author><author><name sortKey="Cariou, C" uniqKey="Cariou C">C Cariou</name></author><author><name sortKey="Martinet, P" uniqKey="Martinet P">P Martinet</name></author><author><name sortKey="Berducat, M" uniqKey="Berducat M">M Berducat</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gan Mor, S" uniqKey="Gan Mor S">S Gan-Mor</name></author><author><name sortKey="Clark, Rl" uniqKey="Clark R">RL Clark</name></author><author><name sortKey="Upchurch, Bl" uniqKey="Upchurch B">BL Upchurch</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Gerrish, Jb" uniqKey="Gerrish J">JB Gerrish</name></author><author><name sortKey="Fehr, Bw" uniqKey="Fehr B">BW Fehr</name></author><author><name sortKey="Ee, Grv" uniqKey="Ee G">GRV Ee</name></author><author><name sortKey="Welch, Dp" uniqKey="Welch D">DP Welch</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Cho, Si" uniqKey="Cho S">SI Cho</name></author><author><name sortKey="Ki, Nh" uniqKey="Ki N">NH Ki</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Benson, Er" uniqKey="Benson E">ER Benson</name></author><author><name sortKey="Reid, Jf" uniqKey="Reid J">JF Reid</name></author><author><name sortKey="Zhang, Q" uniqKey="Zhang Q">Q Zhang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kise, M" uniqKey="Kise M">M Kise</name></author><author><name sortKey="Zhang, Q" uniqKey="Zhang Q">Q Zhang</name></author><author><name sortKey="Rovira Mas, F" uniqKey="Rovira Mas F">F Rovira Más</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Noguchi, N" uniqKey="Noguchi N">N Noguchi</name></author><author><name sortKey="Ishii, K" uniqKey="Ishii K">K Ishii</name></author><author><name sortKey="Terao, H" uniqKey="Terao H">H Terao</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, Q" uniqKey="Zhang Q">Q Zhang</name></author><author><name sortKey="Reid, Jf" uniqKey="Reid J">JF Reid</name></author><author><name sortKey="Noguchi, N" uniqKey="Noguchi N">N Noguchi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Pilarski, T" uniqKey="Pilarski T">T Pilarski</name></author><author><name sortKey="Happold, M" uniqKey="Happold M">M Happold</name></author><author><name sortKey="Pangels, H" uniqKey="Pangels H">H Pangels</name></author><author><name sortKey="Ollis, M" uniqKey="Ollis M">M Ollis</name></author><author><name sortKey="Fitzpatrick, K" uniqKey="Fitzpatrick K">K Fitzpatrick</name></author><author><name sortKey="Stentz, A" uniqKey="Stentz A">A Stentz</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nagasaka, Y" uniqKey="Nagasaka Y">Y Nagasaka</name></author><author><name sortKey="Umeda, N" uniqKey="Umeda N">N Umeda</name></author><author><name sortKey="Kanetai, Y" uniqKey="Kanetai Y">Y Kanetai</name></author><author><name sortKey="Taniwaki, K" uniqKey="Taniwaki K">K Taniwaki</name></author><author><name sortKey="Sasaki, Y" uniqKey="Sasaki Y">Y Sasaki</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Stombaugh, Ts" uniqKey="Stombaugh T">TS Stombaugh</name></author><author><name sortKey="Benson, Er" uniqKey="Benson E">ER Benson</name></author><author><name sortKey="Hummel, Jw" uniqKey="Hummel J">JW Hummel</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Bevly, Dm" uniqKey="Bevly D">DM Bevly</name></author><author><name sortKey="Gerdes, Jc" uniqKey="Gerdes J">JC Gerdes</name></author><author><name sortKey="Parkinson, Bw" uniqKey="Parkinson B">BW Parkinson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Karkee, M" uniqKey="Karkee M">M Karkee</name></author><author><name sortKey="Steward, Bl" uniqKey="Steward B">BL Steward</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, Q" uniqKey="Zhang Q">Q Zhang</name></author><author><name sortKey="Qiu, H" uniqKey="Qiu H">H Qiu</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ashraf, Ma" uniqKey="Ashraf M">MA Ashraf</name></author><author><name sortKey="Takeda, J" uniqKey="Takeda J">J Takeda</name></author><author><name sortKey="Osada, H" uniqKey="Osada H">H Osada</name></author><author><name sortKey="Chiba, S" uniqKey="Chiba S">S Chiba</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Ogata, K" uniqKey="Ogata K">K Ogata</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hu, Gr" uniqKey="Hu G">GR Hu</name></author><author><name sortKey="Khoo, Hs" uniqKey="Khoo H">HS Khoo</name></author><author><name sortKey="Goh, Pc" uniqKey="Goh P">PC Goh</name></author><author><name sortKey="Law, Cl" uniqKey="Law C">CL Law</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Buick, R" uniqKey="Buick R">R Buick</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Han, S" uniqKey="Han S">S Han</name></author><author><name sortKey="Zhan, Q" uniqKey="Zhan Q">Q Zhan</name></author><author><name sortKey="Noh, H" uniqKey="Noh H">H Noh</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/TelematiV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000752 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 000752 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= TelematiV1
|flux= Main
|étape= Merge
|type= RBID
|clé= PMC:3231444
|texte= A Simple Method to Improve Autonomous GPS Positioning for Tractors
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:22163917" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \
| NlmPubMed2Wicri -a TelematiV1
| This area was generated with Dilib version V0.6.31. |  |