A Simple Method to Improve Autonomous GPS Positioning for Tractors
Identifieur interne : 000763 ( Ncbi/Merge ); précédent : 000762; suivant : 000764A 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
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PMC:3231444Le document en format XML
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<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>
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<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>
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<author><name sortKey="Noguchi, N" uniqKey="Noguchi N">N Noguchi</name>
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<pubmed><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 wicri:level="1"><nlm:affiliation>Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, Valladolid, Spain. jgomez@tel.uva.es</nlm:affiliation>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, Valladolid</wicri:regionArea>
<wicri:noRegion>Valladolid</wicri:noRegion>
</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>
</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>
</author>
<author><name sortKey="Stombaugh, Tim" sort="Stombaugh, Tim" uniqKey="Stombaugh T" first="Tim" last="Stombaugh">Tim Stombaugh</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2011">2011</date>
<idno type="doi">10.3390/s110605630</idno>
<idno type="RBID">pubmed:22163917</idno>
<idno type="pmid">22163917</idno>
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<idno type="wicri:explorRef" wicri:stream="Checkpoint" wicri:step="PubMed">000312</idno>
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<sourceDesc><biblStruct><analytic><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 wicri:level="1"><nlm:affiliation>Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, Valladolid, Spain. jgomez@tel.uva.es</nlm:affiliation>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Signal Theory, Communications and Telematics Engineering, University of Valladolid, Valladolid</wicri:regionArea>
<wicri:noRegion>Valladolid</wicri:noRegion>
</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>
</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>
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<author><name sortKey="Stombaugh, Tim" sort="Stombaugh, Tim" uniqKey="Stombaugh T" first="Tim" last="Stombaugh">Tim Stombaugh</name>
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</analytic>
<series><title level="j">Sensors (Basel, Switzerland)</title>
<idno type="eISSN">1424-8220</idno>
<imprint><date when="2011" type="published">2011</date>
</imprint>
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<profileDesc><textClass></textClass>
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</teiHeader>
<front><div type="abstract" xml:lang="en">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.</div>
</front>
</TEI>
</pubmed>
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