您好，欢迎访问中国农业科学院 机构知识库！

全部

  • 全部
  • 标题
  • 学者
  • 机构
  • 关键词

A low-cost GPS/INS Integrated System for an AutoGuided Tractor

文献类型： 会议论文

第一作者： Xiongzhe Han

作者： Xiongzhe Han 1 ; Hak-Jin Kim 1 ; Chan Woo Jeon 1 ; Hee Chang Moon 2 ; Jung Hun Kim 3 ;

作者机构： 1.Dept. of Biosystems and Biomaterials Engineering, College of Agriculture and Life Sciences, Seoul National University. Seoul 151-921, Republic of Korea

2.Unmanned Solutions Co., 1617-37, Seocho 1-dong, Seoul, Republic of Korea

3.R&D Institute, Tong Yang Moolsan Co.,LTD, Useong-myeon, Gongju-si, Chungcheongnam-Do 314-862, Republic of Korea

关键词： Global positioning system;Sensor fusion;Kalman filter;Inertial sensor;Position;Heading angle

会议名称： Annual International Meeting of the American Society of Agricultural and Biological Enginners

主办单位：

页码： 2460-2469

摘要： Use of low-cost single GPS receivers and inertial sensors has been limited by reduced accuracy and signal drift over time, as compared to those obtained with a real-time kinematic (RTK) differential GPS unit and a fiber-optic gyroscope (FOG) sensor. In this study, a low-cost GPS/INS integrated system was developed that consists of three Garmin 19x GPS receivers and a DAS integrated inertial measurement unit (IMU. A triangular algorithm that uses data collected from the three single GPSs was designed.A sensor fusion algorithm based on the Kalman Filter (EKF) was developed by integrating position data and orientation angles of a triangular-shape GPS system. The evaluation test of GPS/INS integrated system was carried out on paved roads at two different sites. When using the developed GPS/INS system, the accuracy performances of position and heading angle were improved, showing reductions in position and heading angle RMSEs from 2.7 to 0.64 m and from 8.9 to 3.6 deg, respectively, as compared to those measured with single Garmin GPS receivers.

分类号： S-532

  • 相关文献

[1]Fusion of a panoramic camera and 2D laser scanner data for constrained bundle adjustment in GPS-denied environments. Shi, Yun,Yang, Peng,Wu, Wenbin,Ji, Shunping,Shi, Yun,Ji, Shunping,Shibasaki, Ryosuke,Shao, Xiaowei,Shi, Zhongchao.

[2]DETECTION AND POSITION METHOD OF APPLE TREE IMAGE. Mao, Wenhua,Zhang, Xiaochao,Hub, Xiaoan,Mao, Wenhua,Jia, Baoping. 2009

[3]Assimilating a synthetic Kalman filter leaf area index series into the WOFOST model to improve regional winter wheat yield estimation. Huang, Jianxi,Ma, Hongyuan,Li, Xinlu,Zhang, Xiaodong,Huang, Jianxi,Sedano, Fernando,Liang, Shunlin,Huang, Yanbo,Liang, Shunlin,Tian, Liyan,Fan, Jinlong,Wu, Wenbin.

[4]Human Body Motion Tracking for Rehabilitation. Moraru Andrei,Eva-H. Dulf,Lehel Dénes-Fazakas,Levente Kovacs. 2024

作者其他论文 更多>>
置顶
购物车
反馈

© 京ICP备09089781号-29 主办单位：中国农业科学院

学术资源： 中国农业科学院 农业专业知识服务系统 农科联盟资源共建共享平台 中国农业科技文献与信息服务平台 中国农业期刊集成服务平台