Automatic Guidance System based on Sensor Fusion of Geomagnetic Direction Sensor and Gyroscope. (Part 3). Enhancement of Heading Angle Accuracy using Vibrating Gyroscope.:Enhancement of Heading Angle Accuracy using Vibrating Gyroscope

概要

論文の詳細を見る
The objective of this research is to develop an automatic guidance system composed of relatively low cost sensors. As a navigation sensor, we used a geomagnetic direction sensor (GDS) and a gyroscope. In this paper, the precise estimation method of the vehicle orientation was proposed. First, the noise of inclinometer were eliminated by an adaptive line enhancer (ALE). Second, the drift error of the gyroscope was estimated by a least square method (LSM). Third, these sensors output were integrated to obtain the accurate vehicle orientation. Finally, to evaluate the accuracy of the proposed estimation method of orientation, the automatic navigation test was carried out in the actually used field. As a result of the automatic navigation test, it was confirmed that the proposed estimation method had the ability to navigate the mobile vehicle with high accuracy.
農業機械学会の論文