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Correction of GPS positioning by vehicle inclinations for agricultural vehicle guidance

机译：校正农业车辆指导车辆倾斜度的GPS定位

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摘要

A GPS is widely used as a positioning system for an automatic vehicle guidance. But, generally a GPS antenna is installed at the top of a vehicle whose height is 2 to 3 meters from the ground, a position error raised from vehicle inclinations (roll and pitch ) is included. In this research, to increase travel accuracy of vehicle guidance, we propose the correction method of the position error caused by vehicle inclinations. To evaluate a performance of the developed correction method, the travel test by giving roll and pitch was conducted. The average of lateral error indicated about 17.1 cm, when the vehicle traveled without inclination correction, while the average error was reduced up to about 2.1 cm by introducing the inclination correction. In addition, to investigate the performance under higher velocity, the traveling test in which running speed exceeding 4.0 m/s was also carried out. Without the inclination correction, the R. MS. error in the lateral direction of the vehicle reached 10.4cm. On the other hand, when the developed correction method was utilized, the R.M.S. error decreased to about 3.8cm. It was concluded that the performance of the developed guidance system on high speed travel was satisfied with actual field management's.
机译：GPS广泛用作自动车辆引导的定位系统。但是，通常，GPS天线安装在距离地面高度2至3米的车辆顶部，包括从车辆倾斜（辊和间距）升高的位置误差。在这项研究中，为了提高车辆引导的旅行准确性，我们提出了由车辆倾斜引起的位置误差的校正方法。为了评估开发校正方法的性能，进行了通过给予辊和沥青的行程测试。当车辆在没有倾斜校正的情况下行进时，横向误差的平均值约为17.1厘米，而通过引入倾斜校正，平均误差减小到约2.1cm。此外，为了研究更高的速度下的性能，还进行了运行速度超过4.0m / s的行驶测试。没有倾斜纠正，R. MS。车辆的横向误差达到10.4cm。另一方面，当利用开发的校正方法时，下午3。误差减少到约3.8cm。得出结论是，对高速旅行的开发指导系统的表现对实际的现场管理感到满意。

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