2001 Volume 63 Issue 4 Pages 96-102
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. To increase the accuracy of these sensors outputs and guidance performance, these sensor output were integrated by sensor fusion technique. In the paper, a fiber optic 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. A kalman filter was employed as sensor fusion method. The kinematics of a vehicle was modeled and a heading error and a 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.