Implement lateral position accuracy under RTK-GPS tractor guidance

Gan–Mor, S.; Clark, R. L.; Upchurch, B. L.

doi:10.1016/j.compag.2007.04.008

Cited by 66 publications

(39 citation statements)

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“…This article covers a gap in the scientific literature in the field of precision agriculture because there are no articles in the scientific literature that study the guidance of a tractor using only a low-cost GPS receiver as a positioning sensor. Usually, expensive RTK-CDGPS are used in the scientif ic literature (Noguchi et al, 1998;Reid et al, 2000;Thuillot et al, 2002;Lenain et al, 2006;Gan-Mor et al, 2007). Only few articles (Guo and Zhang, 2004;Peters and Evett, 2005;Keskin and Say, 2006) have used this kind of receiver for obtaining the position of an irrigation system (Peters and Evett, 2005), measuring the speed of a vehicle (Keskin and Say, 2006), or the guidance of an off-road vehicle (Guo and Zhang, 2004;Price and Nistala, 2005).…”

Section: Discussionmentioning

confidence: 99%

“…Several articles (Devlin et al, 2007;GanMor et al, 2007) have studied GPS errors or guidance tracking errors, however, none have applied and studied a low-cost guidance system. GPS accuracy can range from 1-2 cm to 100 m (Czajewski, 2004;Gan-Mor et al, 2007;Valbuena et al, 2010) depending on the kind of GPS receiver employed. For low-cost GPS receivers using wide augmentation area system (WAAS) corrections, position accuracy of 95% can be less than 3 m (Peters and Evett, 2005).…”

Section: Discussionmentioning

confidence: 99%

“…On the other hand, absolute positioning systems use an external and global reference. Of these systems, the most widespread are those based on global navigation satellite systems (GNSS) (Stafford, 1999;Gan-Mor et al, 2007).…”

Section: Introductionmentioning

confidence: 99%

“…Thus, based on these variables, it is possible to reduce errors from several meters to a few centimeters with differential corrections. Precise real time kinematic carrier phase differential global positioning systems (RTK-CDGPS) have been usually used in the scientific literature (Noguchi et al, 1998;Reid et al, 2000;Thuillot et al, 2002;Lenain et al, 2006;Gan-Mor et al, 2007). Positioning rates of 5 Hz or more have been used.…”

Section: Introductionmentioning

confidence: 99%

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Evaluation of the use of low-cost GPS receivers in the autonomous guidance of agricultural tractors

Alonso-Garcia¹,

Gómez-Gil²,

Arribas³

2011

Span. j. agric. res.

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This paper evaluates the use of low-cost global positioning system (GPS) receivers in the autonomous guidance of agricultural tractors. An autonomous guidance system was installed in a 6400 John Deere agricultural tractor. A lowcost GPS receiver was used as positioning sensor. Three different control laws were implemented in order to evaluate the autonomous guidance of the tractor with the low-cost receiver. The guidance was experimentally tested with the tracking of straight trajectories and with the step response. The total guidance error was obtained from the receiver accuracy and from the guidance error. For the evaluation of the receiver's accuracy, positioning data from several lowcost receivers were recorded and analyzed. For the evaluation of the guidance error, tests were performed with each control law at three different speeds. The conclusions obtained were that relative accuracy of low-cost receivers decreases with the time; that for an interval lower than 15 min, the error usually remains below 1 m; that all the control laws have a similar behavior and it is conditioned by the control law adjustment; that automatic guidance with lowcost receivers is possible with speeds that went up to 9 km h -1 ; and finally, that the total error in the guidance is mainly determined by the receiver's accuracy.Additional key words: control law; fuzzy logic; inertial navigation system (INS); linear quadratic regulator; step response; trajectory tracking. Resumen Evaluación del uso de receptores GPS de bajo coste en el guiado autónomo de tractores agrícolasEste artículo evalúa el uso de receptores de posicionamiento global (GPS) de bajo coste en el guiado autónomo de tractores agrícolas. Para ello, se instaló un sistema de guiado autónomo en un tractor John Deere 6400. Como sensor de posicionamiento se utilizó un único receptor GPS de bajo coste. Se implementaron tres leyes de control diferentes para la evaluación del guiado con el receptor GPS de bajo coste. Se realizaron pruebas de seguimiento de trayectorias rectilíneas y de respuesta escalón. El error de guiado total se obtuvo de la precisión del receptor y del error relativo instantáneo en el seguimiento de una trayectoria. Para la evaluación de la precisión del receptor, se tomaron y analizaron datos de posición de varios receptores. Para la evaluación del error en el guiado, se realizaron pruebas con cada una de las leyes de control a tres velocidades diferentes. Como conclusiones se ha obtenido que la precisión relativa de los receptores GPS de bajo coste disminuye con el tiempo; que en un intervalo de tiempo inferior a 15 min, la precisión relativa es aproximadamente 1 m; que el comportamiento de las diferentes leyes de control es similar y está condicionado por el ajuste de las mismas; que el guiado es posible a velocidades de hasta 9 km h -1 y, finalmente, que el error total en el guiado está principalmente determinado por la precisión del receptor.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Evaluation of the use of low-cost GPS receivers in the autonomous guidance of agricultural tractors

Alonso-Garcia¹,

Gómez-Gil²,

Arribas³

2011

Span. j. agric. res.

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“…Th e criteria of the work quality when using the GNSS guidance systems are the accuracy of GNSS guidance and its transmission to the movement control. Th is issue is covered in world standards (ASA-BE 2007) as well as scientifi c papers (Gan-Mor et al 2007;Gavric et al 2011;Williams et al 2012).…”

Section: S66mentioning

confidence: 99%

Determining the guidance system accuracy with the support of a large GNSS dataset

Rataj¹,

Galambošová²,

Vašek³

2013

Res. Agric. Eng.

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Rataj V., Galambošová J., Vašek M., 2013. Determining the guidance system accuracy with the support of a large GNSS dataset. Res. Agr. Eng., 59 (Special Issue): S65-S70.Several methods are used presently to assess the accuracy of machinery guidance systems. However, these off er a limited number of records and are time and cost consuming. As the machinery is often equipped with a monitoring system for the management purposes, these data can be used. Th e aim of this work was to develop and verify a method to determine the accuracy of the machinery guidance systems based on a large dataset obtained from the machinery monitoring system. Th e proposed method uses the transformation of global navigation satellite systems (GNSS) data into a rectangular coordinate system SJTSK (National projection system -Krovak projection). Based on the geometry principle, the ideal line can be determined, and afterwards, the off -track error of each actual position can be calculated. After the verifi cation of this method, it can be concluded that it brings benefi ts in terms of further use of the data from the monitoring systems, the estimation of the error based on a robust dataset, elimination of subjective and measurement method errors, as well as spatial localisation of the off -track errors at the fi eld.Keywords: off -track error; geometry; rectangular coordinate system SJTSK Th e machinery movement in the fi eld is an important parameter of the machinery use effi ciency. Th e research into this topic has been conducted for many years by many authors from many aspects. Among the fi rst published results on the fi eld traffi c are those by Pavlov et al. (1973) and Ondej et al. (1989). Th e problem of the machinery movement is connected with the technical level of tractors and implements. Because of the kinematics of modern tractors, it is necessary nowadays to study and model the machinery movement. Several authors deal with the aspects of machinery movement itself including the kinematics (Backman et al. 2012;Rovira-Más 2012). Th e issue of the machinery movement within a defi ned space, described by the shape and the area of a fi eld, has been solved by Hameed et al. (2010). Besides the movement of machinery for the fi eld operations, those of machinery for service operations such as e.g. fi eld transport have been analysed (Bochtis et al. 2010a).Th e analyses of the machinery movement, optimal direction of movement, algorithms and mathematical models of machinery fi eld traffi c were conducted by Bochtis et al. (2007Bochtis et al. ( , 2010a, Oksanen and Visala (2007), Bochtis and Vougioukas (2008), Yakusshev and Yakusshev (2008), Spekken and Bruin (2011) and others.

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An autonomous rice transplanter guided by global positioning system and inertial measurement unit

Nagasaka

Saito

Tamaki

et al. 2009

Journal of Field Robotics

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This paper reports the development of an automated rice transplanter guided by a global positioning system and an inertia measurement unit using the controller area network bus. The actuator control command and data communication protocols comply with the ISO 11783. The project aims to develop an autonomous agricultural system for operation in the paddy field. The automated rice transplanter presented in this paper is the first stage in achieving the project objective. This paper focuses on the development of sensor and main computer connections to the operating autonomous unit and the use of common control protocols for each of the automated machines. A simple steering control algorithm was used for straight traveling. The automated rice transplanter made a turn at the headland of the paddy field and moved to the next desired path. After 12 straight operations, the rms lateral deviation was observed to be less than 0.04 m and the rms heading angle error was less than 3.6 deg. C 2009 Wiley Periodicals, Inc.

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Implement lateral position accuracy under RTK-GPS tractor guidance

Cited by 66 publications

References 5 publications

Evaluation of the use of low-cost GPS receivers in the autonomous guidance of agricultural tractors

Evaluation of the use of low-cost GPS receivers in the autonomous guidance of agricultural tractors

Determining the guidance system accuracy with the support of a large GNSS dataset

An autonomous rice transplanter guided by global positioning system and inertial measurement unit

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