Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor

Paper #:
  • 1999-01-2851

Published:
  • 1999-09-14
Citation:
Bevly, D., Rekow, A., and Parkinson, B., "Incorporating INS with Carrier-Phase Differential GPS for Automatic Steering Control of a Farm Tractor," SAE Technical Paper 1999-01-2851, 1999, https://doi.org/10.4271/1999-01-2851.
Pages:
9
Abstract:
This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.
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