Navigation System for Autonomous Tractor using DGPS and FOG

摘要

An autonomous tractor of land based vehicle of 75HP wasrndeveloped using an optical fiber gyroscope and the differentialrnglobal positioning system(DGPS) to accurately maneuver andrncarry out basic farm chores without an operator. Present positionrnof tractor and the offset difference of the direction of therngyroscope from its of DGPS is estimated by a method of Kalmanrnfilter using the data of DGPS as the observation. The tractor wasrnable to cultivate field using rotary machine within 10cmrndifference from the target line.