The land-based navigation, paying attention to precision farming, is the research topic: the final purpose is the design and development of a guidance-aided system focusing on a lew-cost GPS receiver able to provide a pseudorange-based solution only. Specific tests have been carried out to perform the particular trajectories followed by the vehicle in agricultural applications, whose accuracy target is typically 1 m. Results show that the low-cost receiver is affected by a drift in time which is mainly detected while turning and causing a deviation from the optimal reference solution. Thus, the goal is to correct this behaviour because the deviation accumulates during time and causes a not optimal treatment of the field (waste of material and money). Paying attention to the cost of the system, a new idea was proposed: the integration between the low-cost GPS with a magnetometer/digital compass. A dedicated algorithm was also implemented, taking the heading provided by the magnetometer and using it to correct the deviation in rums. Unluckily a magnetometer is deeply influenced by ferrous materials and the sensor is supposed to be installed on the vehicle, which is mainly made by metal. As a consequence, the sensed measurements are affected by a deviation from the actual magnetic field. Those disturbances need to be properly reduced by an autocalibration procedure. First of all, this paper deeply analyzes the performances of those particular low-cost GPS receivers; furthermore a solution is presented by means of the integration with a magnetometer. Results will be shown with great attention to future developments and improvements of the low-cost system suggested for supporting the guidance in precision farming applications.

GPS-Aided Land-Based Navigation and Precision Farming Applications: Improving GPS Solutions by Means of MEMS-IMU and Low-Cost Sensors / Castagnetti, Cristina; Biagi, Ludovico; Capra, Alessandro. - ELETTRONICO. - 2:(2010), pp. 1662-1666. (Intervento presentato al convegno 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010 tenutosi a Portland, OR, usa nel 21-24 September 2010).

GPS-Aided Land-Based Navigation and Precision Farming Applications: Improving GPS Solutions by Means of MEMS-IMU and Low-Cost Sensors

CASTAGNETTI, Cristina;CAPRA, Alessandro
2010

Abstract

The land-based navigation, paying attention to precision farming, is the research topic: the final purpose is the design and development of a guidance-aided system focusing on a lew-cost GPS receiver able to provide a pseudorange-based solution only. Specific tests have been carried out to perform the particular trajectories followed by the vehicle in agricultural applications, whose accuracy target is typically 1 m. Results show that the low-cost receiver is affected by a drift in time which is mainly detected while turning and causing a deviation from the optimal reference solution. Thus, the goal is to correct this behaviour because the deviation accumulates during time and causes a not optimal treatment of the field (waste of material and money). Paying attention to the cost of the system, a new idea was proposed: the integration between the low-cost GPS with a magnetometer/digital compass. A dedicated algorithm was also implemented, taking the heading provided by the magnetometer and using it to correct the deviation in rums. Unluckily a magnetometer is deeply influenced by ferrous materials and the sensor is supposed to be installed on the vehicle, which is mainly made by metal. As a consequence, the sensed measurements are affected by a deviation from the actual magnetic field. Those disturbances need to be properly reduced by an autocalibration procedure. First of all, this paper deeply analyzes the performances of those particular low-cost GPS receivers; furthermore a solution is presented by means of the integration with a magnetometer. Results will be shown with great attention to future developments and improvements of the low-cost system suggested for supporting the guidance in precision farming applications.
2010
23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010
Portland, OR, usa
21-24 September 2010
2
1662
1666
Castagnetti, Cristina; Biagi, Ludovico; Capra, Alessandro
GPS-Aided Land-Based Navigation and Precision Farming Applications: Improving GPS Solutions by Means of MEMS-IMU and Low-Cost Sensors / Castagnetti, Cristina; Biagi, Ludovico; Capra, Alessandro. - ELETTRONICO. - 2:(2010), pp. 1662-1666. (Intervento presentato al convegno 23rd International Technical Meeting of the Satellite Division of the Institute of Navigation 2010, ION GNSS 2010 tenutosi a Portland, OR, usa nel 21-24 September 2010).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1112224
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