A Kalman filter implementation for precision improvement in low-cost GPS positioning of tractors.
TLDR
Data suggest that the proposed filter can satisfactorily preprocess the low-cost GPS receiver data when used in an assistance guidance GPS system for tractors, and could also be useful to smooth tractor GPS trajectories that are sharpened when the tractor moves over rough terrain.Abstract:
Low-cost GPS receivers provide geodetic positioning information using the NMEA protocol, usually with eight digits for latitude and nine digits for longitude. When these geodetic coordinates are converted into Cartesian coordinates, the positions fit in a quantization grid of some decimeters in size, the dimensions of which vary depending on the point of the terrestrial surface. The aim of this study is to reduce the quantization errors of some low-cost GPS receivers by using a Kalman filter. Kinematic tractor model equations were employed to particularize the filter, which was tuned by applying Monte Carlo techniques to eighteen straight trajectories, to select the covariance matrices that produced the lowest Root Mean Square Error in these trajectories. Filter performance was tested by using straight tractor paths, which were either simulated or real trajectories acquired by a GPS receiver. The results show that the filter can reduce the quantization error in distance by around 43%. Moreover, it reduces the standard deviation of the heading by 75%. Data suggest that the proposed filter can satisfactorily preprocess the low-cost GPS receiver data when used in an assistance guidance GPS system for tractors. It could also be useful to smooth tractor GPS trajectories that are sharpened when the tractor moves over rough terrain.read more
Citations
More filters
Journal ArticleDOI
Agricultural robots for field operations: Concepts and components
Avital Bechar,Clément Vigneault +1 more
TL;DR: A review of the research effort, developments and innovation in agricultural robots for field operations, and the associated concepts, principles, limitations and gaps can be found in this article, where the authors focus on: fusing complementary sensors for adequate localisation and sensing abilities, developing simple manipulators for each agricultural task, developing path planning, navigation and guidance algorithms suited to environments besides open fields and known a-priori, and integrating human operators in this complex and highly dynamic situation.
Journal ArticleDOI
Agricultural robots for field operations. Part 2: Operations and systems
Avital Bechar,Clément Vigneault +1 more
TL;DR: This part of the review of the research, developments and innovation in agricultural robots for field operations, focuses on characteristics, performance measures, agricultural tasks and operations.
Journal ArticleDOI
Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements.
Asaf Tal,Itzik Klein,Reuven Katz +2 more
TL;DR: A DVL-based vehicle velocity solution is proposed using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach and the implementation of the ELC approach requires only software modification.
Journal ArticleDOI
Developing a navigation, guidance and obstacle avoidance algorithm for an Unmanned Surface Vehicle (USV) by algorithms fusion
Hossein Mousazadeh,Hamid Jafarbiglu,Hamid Abdolmaleki,Elham Omrani,Farshid Monhaseri,Mohammad-reza Abdollahzadeh,Aref Mohammadi-Aghdam,Ali Kiapei,Yousef Salmani-Zakaria,Ashkan Makhsoos +9 more
TL;DR: The Morvarid, a catamaran shaped boat is designed and developed for plotting hydrography map of harbours, a fusion algorithm based on EKF, search ball and potential field concept is developed and it is concluded that although the developed algorithm is robust and precise even in the presence of environmental disturbances, however installing powerful thrusters would boost maneuverability more than that is.
Journal ArticleDOI
Kalman Filter-Based Microbubble Tracking for Robust Super-Resolution Ultrasound Microvessel Imaging
Shanshan Tang,Pengfei Song,Joshua D. Trzasko,Matthew R. Lowerison,Chengwu Huang,Ping Gong,U-Wai Lok,Armando Manduca,Shigao Chen +8 more
TL;DR: The results indicate that the proposed method substantially improves the robustness of SR-UMI under a clinically relevant imaging scenario where SR- UMI is challenged by a limited MB accumulation time, reduced number of MBs, lowered imaging frame rate, and degraded signal-to-noise ratio.
References
More filters
Book ChapterDOI
A New Approach to Linear Filtering and Prediction Problems
TL;DR: In this paper, the clssical filleting and prediclion problem is re-examined using the Bode-Shannon representation of random processes and the?stat-tran-sition? method of analysis of dynamic systems.
Book
Probability, random variables and stochastic processes
TL;DR: This chapter discusses the concept of a Random Variable, the meaning of Probability, and the axioms of probability in terms of Markov Chains and Queueing Theory.
Book
Random variables and stochastic processes
TL;DR: An electromagnetic pulse counter having successively operable, contact-operating armatures that are movable to a rest position, an intermediate position and an active position between the main pole and the secondary pole of a magnetic circuit.