Field mobile robot navigated by RTK-GPS and FOG (Part 1) - estimation of absolute heading angle by sensor-fusion with RTK-GPS and FOG

摘要

A sensor fusion algorithm for an autonomous vehicle utilizing an RTK-GPS and a FOG as navigation sensors was proposed in this paper. The goal of this paper is to develop the method that estimates a heading angle corresponding with GPS coordinate system. The developed algorithm based on Least Squares Method, could estimate FOG bias in each step for detecting a heading angle. The developed method was examined by simulating with actual data by manual operation, and it could estimate the bias angle with satisfying accuracy on all types of paths, straight, curve, and turns. In addition, the guidance system with this method performed automatic planting at the field with 4.5 cm r.m.s. error from the desired path.