Development of Robot Tractor Using the Low-Cost GPS/INS System

摘要

In this research, low cost navigation sensor unit composed of three vibratory gyroscopesand two inclinometers and the GPS for the agricultural vehicle was developed. The sensor canprovide the position corrected by inclination, heading angle and roll/pitch inclinations. Themicrocomputer (H8S2612) was installed to measure the sensors data and calculate the correctedposition, corrected heading and corrected inclination by itself without using laptop computer and highresolution A/D converter. To measure the accuracy of developed sensor unit, the field test wasconducted. The developed sensor unit could estimate the heading angle with 1.59 and roll anglewith 0.41 and pitch angle with 0.65. This accuracy was equivalent to the accuracy of RTK-GPS andIMU system using high resolution A/D converter and laptop computer.