Navigation of a Robot Tractor Using the Japanese Quasi-Zenith Satellite System (Part 1)

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  • WANG Hao
    Graduate School of Agriculture, Hokkaido University
  • NOGUCHI Noboru
    Research Faculty of Agriculture, Hokkaido University

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Other Title
  • 準天頂衛星システムを利用したロボットトラクタのナビゲーション（第1報）
  • Navigation of a Robot Tractor Using the Japanese Quasi-Zenith Satellite System(Part 1)Application of Precise Point Positioning Method to a Robot Tractor
  • —Application of Precise Point Positioning Method to a Robot Tractor—
  • —精密単独測位方法のロボットトラクタへの応用—

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Abstract

<p>We have applied PPP (Precise Point Positioning) using the LEX (L-band Experiment) signal of the QZSS (Quasi-Zenith Satellite System) to a robot tractor for precise farming. The QZSS transmits augmentation signals coded in the LEX signal to realize centimeter-class positioning accuracy. The usage of PPP in autonomous navigation is restricted in ambiguity resolution. Experiments using a commercial QZSS receiver reveal that the PPP converges to different results at the same position, and the results drift after convergence. We proposed a bias identification method based on landmarks to overcome these limitations. The proposed method was effective for navigating a robot tractor with 5 cm accuracy at a speed of 3.6 km/h.</p>

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