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Development of a low-cost attitude sensor for agricultural vehicles
- The objective of this research was to develop a low-cost attitude sensor for agricultural vehicles. The attitude sensor was composed of three vibratory gyroscopes and two inclinometers. A sensor fusion algorithm was developed to estimate tilt angles (roll and pitch) by least-squares method. In the algorithm, the drift error of the gyroscopes was estimated using the inclinometers. In addition to tilt angles, the attitude sensor also estimated the absolute heading angle and position with inclination error correction by integrating a GPS. Tests were conducted on a flat field, a sloping ground and a bumpy road. Results showed that the attitude sensor was able to estimate the roll angle with the maximum root mean square error of 0.43°, the pitch angle with 0.61° and the heading angle with 0.64°. Moreover, the attitude sensor dramatically improved the positioning accuracy from 25.9cm to 3.0cm in the sloping ground test and from 8.4cm to 3.7cm in the bumpy road test. The proposed technology used in the attitude sensor will help to develop advanced agricultural applications.
Mizushima, Akira , Ishii, Kazunobu , Noguchi, Noboru , Matsuo, Yousuke , Lu, Renfu
sensors , vehicles , agricultural machinery and equipment , vibration , algorithms , least squares , global positioning systems , slope , roads
- Includes references
- Computers and electronics in agriculture 2011 May, v. 76, no. 2
- [Amsterdam]: Elsevier Science
Journal Articles, USDA Authors, Peer-Reviewed
- Works produced by employees of the U.S. Government as part of their official duties are not copyrighted within the U.S. The content of this document is not copyrighted.