Navigation System for Autonomous Tractor Using DGPS and FOG

摘要

An autonomous tractor of land based vehicle of 75HP was developed using an optical fiber gyroscope and the differential global positioning system(DGPS) to accurately maneuver and carry out basic farm chores without an operator. Present position of tractor and the offset difference of the direction of the gyroscope from its of DGPS is estimated by a method of Kalman filter using the data of DGPS as the observation. The tractor was able to cultivate field using rotary machine within 10cm difference from the target line.