This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor
Technical Paper
1999-01-2851
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.
Recommended Content
Authors
Citation
Bevly, D., Rekow, A., and Parkinson, B., "Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor," SAE Technical Paper 1999-01-2851, 1999, https://doi.org/10.4271/1999-01-2851.Also In
References
- Lachapelle, G. et al. “GPS Systems Integration and Filed Approaches in Precision Farming Navigation 41 3 Fall 1994 323 335
- Cohen, C.E. et al. “Autolanding a 737 Using GPS Integrity Beacons,” Navigation 42 3 Fall 1995 467 486
- Cohen, C.E. Parkinson, B.W. McNally, B.D. “Flight Tests of Attitude Determination Using GPS Compared Against an Inertial Navigation Unit,” Navigation 41 1 Spring 1994 83 97
- O'Connor, M.L. et al. “Automatic Steering of Farm Vehicles Using GPS,” Third International Conference on Precision Agriculture Minneapolis, MN June 1996
- Bell, T. et al. “Automated Tractor Row and Contour Control on Sloped Terrain Using Carrier-Phase Differential GPS,” Fourth International Conference on Precision Agriculture St. Paul, MN June 1998
- Nieminen, T. Mononen, J. Sampo, M. “Unmanned Tractors for Agriculture Applications” XII CIGR World Congress and AgEng '94 Conference on Agricultural Engineering Milano, Italy September 1994
- Da R. Dedes G. Shubert, K. “Design and Analysis of a High-Accuracy Airborne GPS/INS System,” Proceedings of the 9 th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS-96) September 1996 955 964
- Gebre-Egziabher D. Hayward R. C. Powell J.D. “A Low-Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Application,” Proceedings of the 1998 IEEE Position Location and Navigation Symposium April 1998 518 525
- Berman Z. Powell J. D. “The Role of Dead Reckoning and Inertial Sensors in Future General Aviation Navigation,” Proceedings of the 1998 IEEE Position Location and Navigation Symposium April 1998 510 517
- Masson A. Burtin D. Sebe M. “Kinematic DGPS and INS Hybridization for Precise Trajectory Determination,” Proceedings of the 9 th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GPS-96) September 1996 965 973
- Abbot, E. Powell, D. “Land-Vehicle Navigation Using GPS,” Proceedings of the IEEE January 1999 87 1 145 162
- Borenstein J. “Experimental Evaluation of a Fiber Optics Gyroscope for Improving Dead-reckoning Accuracy in Mobile Robots,” Proceedings of the 1998 IEEE International Conference on Robotics & Automation May 1998 3456 3461
- Bennett S.M. et al. “Fiber Optic Gyro for Land Navigation,” Fiber Optic and Laser Sensors XIII 2510 28 36
- Schonberg T. et al. “Positioning an autonomous off-road vehicle by using fused DGPS and inertial navigation,” International Journal of Systems Science 1996 27 8 745 752
- Aono T. Fujii K. Hatsumoto S. Kamiya T. “Positioning of Vehicle on Undulating Ground Using GPS and Dead Reckoning,” Proceedings of the 1998 IEEE International Conference on Robotics & Automation May 1998 3443 3448
- O'connor, M.L. Carrier-Phase Differential GPS for Automatic Control of Land Vehicles Stanford University December 1997
- Stengel, R. Optimal Control and Estimation Dover Dover Publications Meneola, New York 1994
- Bevly, D.M. Rekow, A. Parkinson, B. “Comparison of an INS vs. Carrier Phase DGPS Attitude in the Control of Off-Road Vehicles,” Proceedings of the 1999 ION Annual Meeting Cambridge, MA June 1999
- Bevly, D.M. Rekow, A. Parkinson, B. “Evaluation of a Blended Dead-Reckoning and Carrier Phase Differential GPS System for control of an Off-Road Vehicle,” Proceedings of the 1999 ION-GPS Meeting Nashville, TN September 1999
- Palmer, R. J. Matheson, S.K. “Impact of Navigation on Agriculture,” Proceedings of the American Society of Agricultural Engineers St. Joseph, Mich. 1988 paper no. 88-1602