Low-cost positioning system for agricultural vehicles

Timo Oksanen, Markus Linja, Arto Visala

Research output: Contribution to conferencePaperpeer-review

15 Scopus citations

Abstract

Accurate positioning is needed for agricultural vehicles now and in the future. Position is currently needed for mapping, precision farming, auto-steering vehicles and light-bar navigation and in the future for agrorobotic solutions. Although the accuracy of GPS based positioning can be improved using differential or RTK-solutions, such application may be too highly-priced. In this paper tractor positioning with a cheap GPS-receiver is improved by using inertial navigation and odometry. Kalman filtering is used for sensor fusion. In compensation of the bias type slow error in GPS measurements the low cost additional measurements are not sufficient. However, positioning in blind areas of GPS can be done with them.

Original languageEnglish
Pages297-302
Number of pages6
StatePublished - 2005
Externally publishedYes
Event2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005 - Espoo, Finland
Duration: 27 Jun 200530 Jun 2005

Conference

Conference2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005
Country/TerritoryFinland
CityEspoo
Period27/06/0530/06/05

Keywords

  • Crop farming
  • GPS
  • Inertial navigation
  • Navigation
  • Positioning
  • Sensor fusion

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