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Improved inclination correction method applied to the guidance system of agricultural vehicles
This item is licensed under:Creative Commons Attribution 4.0 International
| Title: | Improved inclination correction method applied to the guidance system of agricultural vehicles |
| Authors: | Ospina, Ricardo Browse this author | | Noguchi, Noboru Browse this author →KAKEN DB |
| Keywords: | inclination correction method | | guidance system | | agricultural vehicles | | robot tractor | | IMU | | RTK-GPS | | precision farming |
| Issue Date: | Nov-2020 |
| Publisher: | Chinese Academy of Agricultural Engineering |
| Journal Title: | international journal of agricultural and biological engineerin |
| Volume: | 13 |
| Issue: | 6 |
| Start Page: | 183 |
| End Page: | 194 |
| Publisher DOI: | 10.25165/j.ijabe.20201306.6012 |
| Abstract: | This research introduces a new inclination correction method with increased accuracy applied to the guidance system of an agricultural vehicle. The method considers the geometry of a robot tractor and uses an Inertial Measurement Unit (IMU) to correct the lateral error of the RTK-GPS antenna measurements raised by the tractor's inclinations. A parameters optimization experiment and an automatic guidance experiment under real working conditions were used to compare the accuracy of a traditional correction method with the new correction method, by calculating the RMSE of the lateral error and the error reduction percentage. An additional tuned correction method was found by using a simple analytical method to find the optimal variables that reduced the lateral error to a minimum. The results indicate that the new correction method and the tuned correction method display a significant error reduction percentage compared to the traditional correction method. The methods could correct the GPS lateral error caused by the roll inclinations in real-time. The resulting lateral deviation caused by the tractor's inclinations could be reduced up to 23% for typical travelling speeds. |
| Rights: | https://creativecommons.org/licenses/by/4.0/ |
| Type: | article |
| URI: | http://hdl.handle.net/2115/80269 |
| Appears in Collections: | 農学院・農学研究院 (Graduate School of Agriculture / Faculty of Agriculture) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)
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