Comparison of Four Different Methods for Agricultural Positioning Using GPS and IMU

Document Type : Research Article

Authors

H. Goli ¹

S. Minaei ²

A. Jafari ³

A. R. Keyhani ³

A. Hajiahmad ³

H. Abdolmaleki ³

A. M. Borghaee ⁴

¹ Islamic Azad University, Sanandaj branch

² Tarbiat Modares University

³ University of Tehran

⁴ Islamic Azad University, Science and Research Branch, Tehran, Iran

https://doi.org/10.22067/jam.v4i2.20849

Abstract

In this research, four different positioning methods were compared in order to evaluate their accuracy, using a remotely controlled robot on a specific route. These methods included: using a single GPS module, combining the data from three GPS modules, using an Inertial Measurement Unit (IMU), and GPS/IMU data fusion. The comparison of these four methods showed that GPS/IMU data fusion along with a Kalman filter was the most precise method, having a root mean square error of 23.4cm. Integrating the data acquired simultaneously from three GPS modules with fixed and equally spaced position and far enough from each other, had a root mean square error of 31.3cm was the second most precise method. . Also analysis of the IMU data showed that due to cumulative errors, it was not a suitable method using a single IMU for positioning.

Keywords

Global positioning system

inertial measurement unit

Data fusion

Kalman filter

20.1001.1.22286829.1393.4.2.16.2

Subjects

• Digital, Smart, and Precision Agriculture

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