Evaluation of the use of low-cost GPS receivers in the autonomous guidance of agricultural tractors

  1. Alonso-García, S.
  2. Gómez Gil, Jaime
  3. Arribas, J. I.
Revista:
Spanish journal of agricultural research

ISSN: 1695-971X,  2171-9292

Año de publicación: 2011

Volumen: 9

Número: 2

Páginas: 377-388

Tipo: Artículo

DOI: 10.5424/SJAR/20110902-088-10 DIALNET GOOGLE SCHOLAR lock_openDialnet editor

Otras publicaciones en: Spanish journal of agricultural research

Resumen

Este artículo evalúa el uso de receptores de posicionamiento global (GPS) de bajo coste en el guiado autónomo de tractores agrícolas. Para ello, se instaló un sistema de guiado autónomo en un tractor John Deere 6400. Como sensor de posicionamiento se utilizó un único receptor GPS de bajo coste. Se implementaron tres leyes de control diferentes para la evaluación del guiado con el receptor GPS de bajo coste. Se realizaron pruebas de seguimiento de trayectorias rectilíneas y de respuesta escalón. El error de guiado total se obtuvo de la precisión del receptor y del error relativo instantáneo en el seguimiento de una trayectoria. Para la evaluación de la precisión del receptor, se tomaron y analizaron datos de posición de varios receptores. Para la evaluación del error en el guiado, se realizaron pruebas con cada una de las leyes de control a tres velocidades diferentes. Como conclusiones se ha obtenido que la precisión relativa de los receptores GPS de bajo coste disminuye con el tiempo; que en un intervalo de tiempo inferior a 15 min, la precisión relativa es aproximadamente 1 m; que el comportamiento de las diferentes leyes de control es similar y está condicionado por el ajuste de las mismas; que el guiado es posible a velocidades de hasta 9 km h�1 y, finalmente, que el error total en el guiado está principalmente determinado por la precisión del receptor.

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Fuente de los datos: Dialnet