Calibrated MEMS Inertial Sensors with GPS for a Precise Attitude Heading Reference System on Autonomous Farming Tractors

Y. Li, D. Dusha, W. Kellar, A. Dempster

Abstract:	GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) systems have found widespread usage in industry and especially in automated agriculture. These systems produce a high frequency attitude solution for mobile agents. The mojoRTK, an agricultural product from Leica Geosystems, is based around a GPS/INS system, utilizing a survey-grade L1/L2 GPS/GLONASS antenna in addition to another L1 GPS antenna. A new algorithm based on loose GNSS/INS integration has been developed in the University of New South Wales for mojoRTK system which is known as AHRSKF (Attitude and Heading Reference System Kalman Filter).The advantage of the AhrsKf is that it takes inputs from the survey grade L1/L2 antenna alone, thus reducing or eliminating the need for the two antenna system used in the existing mojoRTK algorithm. The initial analysis has shown that the two (AhrsKf and existing mojoRTK) solutions have comparable performance. This paper introduces the integration Kalman filter design and addresses its implementation aspects. Multiple L1/L2 GPS receivers in a three antenna configuration are set up in the test as a benchmark to evaluate the AhrsKf solution. The test was conducted at the Leica Geosystems testing farm at Boonah in a tractor equipped with a mojoRTK autosteer system. The AhrsKf solution is derived in a post-processing procedure by using the recorded L1/L2 GNSS and inertial sensor data from the log files of the mojoRTK console. The performance of the algorithms is compared by extracting the time series of the errors in yaw, pitch and roll solutions relative to the reference multi-antenna GPS solution.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	2138 - 2145
Cite this article:	Li, Y., Dusha, D., Kellar, W., Dempster, A., "Calibrated MEMS Inertial Sensors with GPS for a Precise Attitude Heading Reference System on Autonomous Farming Tractors," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 2138-2145.
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