Navigation System for Autonomous Tractor using DGPS and FOG

Keiich Inoue, Noriyuki Murakami, Sumi Miyaura, Kanji Ootsuka, Mitsuho Sugimoto and Masayuki Uchiyama

Abstract:	An autonomous tractor of land based vehicle of 75HP was developed using an optical fiber gyroscope and the differential global positioning system(DGPS) to accurately maneuver and carry out basic farm chores without an operator. Present position of tractor and the offset difference of the direction of the gyroscope from its of DGPS is estimated by a method of Kalman filter using the data of DGPS as the observation. The tractor was able to cultivate field using rotary machine within 10cm difference from the target line. Key Words: Tractor, Automatic guidance, sensor fusion, kalman filter, Gyro, GPS
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	2278 - 2283
Cite this article:	Inoue, Keiich, Murakami, Noriyuki, Miyaura, Sumi, Ootsuka, Kanji, Sugimoto, Mitsuho, Uchiyama, Masayuki, "Navigation System for Autonomous Tractor using DGPS and FOG," Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 2278-2283.
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