Automatic Guidance System Composed of Geomagnetic Direction Sensor and Fiber Optic Gyroscope

摘要

The objective of this research is to develop an automatic guidance system composed of relatively low cost sensors. As a navigation sensor, a geomagnetic direction sensor (GDS) and a gyroscope were employed. To increase the accuracy of these sensor outputs and guidance performance, these sensor output were integrated by sensor fusion technique. In the paper, a fiber optical gyroscope (FOG) was applied as a gyroscope. To evaluate the performance of these sensors for utilizing on an automatic guidance, and to confirm the effect of sensor fusion technique, the automatic guidance test was conducted on a paddy field. In the paper, a kalman filter was employed as sensor fusion method. The kinematics of a vehicle was modeled and heading error and lateral offset were estimated by the kalman filter. The developed fusion technique was able to control the vehicle automatically with higher accuracy compared to that using single navigation sensor.