Comparison of Four Different Methods for Agricultural Positioning Using GPS and IMU
H Goli | S Minaei | A Jafari | A.R Keyhani | A Hajiahmad | H Abdolmaleki | A.M Borghee
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.
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Эту запись предоставил Ferdowsi University of Mashhad