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Improved inclination correction method applied to the guidance system of agricultural vehicles

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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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