5Statistical tools are discussed for the analysis of data collected from tractor guid-6 ance systems. The importance of both accuracy and precision is discussed, and sta-7 tistical tools for analysis are considered which incorporate important features of the 8 data. In particular, accuracy is modelled using a generalized least squares model in-9 corporating autocorrelation, and precision using a gamma generalized linear model. 10The methods are applied to data collected during an experiment conducted with a 11Trimble receiver used with a Beeline tractor guidance system. Three different sce- • reducing driver fatigue: guidance systems reduce the effort associated with main-6 taining accurate vehicle paths (Thuilot et al., 2002; Wilson, 2000); Kocher et al. 7(2000a) cited a study in which 80% of respondents noted fatigue as the greatest hin-8 drance to performance using non-guided tractors; likewise, Kaminika et al. (1981) 9 showed, in a laboratory experiment, a degradation in steering accuracy when the 10 operator had to share attention between tasks. 11• reducing costs: accuracy is increased by reducing 'skip' (missed sections) and 16• improved safety (Zhang, Reid and Noguchi, 1999); 17• less impact on the environment (Bongiovanni and Lowenberg-Deboer, 2004; Wil-18 son, 2000); 19• enabling night work with some systems (Wilson, 2000). 20Guidance systems are used for planting, hoeing, application of fertilizer, application of 21 pesticides, tillage, etc. 22In this paper, we specifically focus on data gathered from using an agricultural guid- 23ance system based on Global Positioning Systems (GPS) to maintain accuracy. For such 24 4 systems, two GPS receivers are required, each requiring an antenna, a controller box con-1 taining a computer, and cables. One GPS receiver is located on the tractor, and is called a 2 roving receiver. The second is stationary at a known position, and located near the pad-3 dock; this is called the base (or reference) station, and is used to eliminate errors occuring 4 in the roving receiver and hence enhancing accuracy. This is called 'differential GPS', 5 or DGPS. The roving receiver determines the location of the tractor, applying corrections 6 received from the base receiver. In autonomous systems, the information received by the 7 controller is used to automatically steer the tractor. In semi-autonomous systems, these 8 corrections are displayed on an in-cabin screen; the tractor driver uses these visual cues 9 to adjust the heading of the tractor to maintain the required path. 10GPS is crucial to these guidance systems. Wilson (2000) In this study, we are interested in the accuracy of the final path of travel using the 10 GPS-based agricultural guidance technology discussed. The distance between the actual 11 and desired path of travel is called the 'offset' (or 'lateral distance'). Using a commer-12 cially available tractor guidance system in conjunction with an additional receiver to log 13 offsets, we compare the accuracy and precision of the specificat...
Competing interests: Julia Brotherton was an investigator on investigator-initiated research grants that provided funding for laboratory testing for a study of cervical cancers (Seqirus) and recurrent respiratory papillomatosis (Merck) more than three years ago, but did not receive personal financial benefits. ■
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