Automatic Guidance System based on Sensor Fusion of Geomagnetic Direction Sensor and Gyroscope. (Part 3). Enhancement of Heading Angle Accuracy using Vibrating Gyroscope.

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  • MIZUSHIMA Akira
    The Japanese Society of Agricultural Machinery School of Agriculture, Graduate School of Hokkaido University
  • NOGUCHI Noboru
    The Japanese Society of Agricultural Machinery School of Agriculture, Graduate School of Hokkaido University
  • ISHII Kazunobu
    The Japanese Society of Agricultural Machinery School of Agriculture, Graduate School of Hokkaido University
  • TERAO Hideo
    The Japanese Society of Agricultural Machinery School of Agriculture, Graduate School of Hokkaido University
  • MATSUO Yousuke
    The Japanese Society of Agricultural Machinery Bio-oriented Technology Research Advancement Institution
  • YAMAMOTO Satoshi
    The Japanese Society of Agricultural Machinery Bio-oriented Technology Research Advancement Institution

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Other Title
  • 地磁気方位センサとジャイロスコープの航法センサ複合化による自動直進アルゴリズム　第３報　　振動ジャイロスコープによる方位推定
  • チジキ ホウイ センサ ト ジャイロスコープ ノ コウホウ センサ フクゴウカ ニ ヨル ジドウ チョクシン アルゴリズム 3 シンドウ ジャイロスコープ ニ ヨル ホウイ スイテイ
  • Enhancement of Heading Angle Accuracy using Vibrating Gyroscope
  • 振動ジャイロスコープによる方位推定

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The objective of this research is to develop an automatic guidance system composed of relatively low cost sensors. As a navigation sensor, we used a geomagnetic direction sensor (GDS) and a gyroscope. In this paper, the precise estimation method of the vehicle orientation was proposed. First, the noise of inclinometer were eliminated by an adaptive line enhancer (ALE). Second, the drift error of the gyroscope was estimated by a least square method (LSM). Third, these sensors output were integrated to obtain the accurate vehicle orientation. Finally, to evaluate the accuracy of the proposed estimation method of orientation, the automatic navigation test was carried out in the actually used field. As a result of the automatic navigation test, it was confirmed that the proposed estimation method had the ability to navigate the mobile vehicle with high accuracy.

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