Research Article
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Year 2018, , 33 - 41, 31.03.2018
https://doi.org/10.15832/ankutbd.446369

Abstract

References

  • Chen J, Lee S & Debra D B (1994). Gyroscope free strapdown inertial measurement unit by six linear accelerometers. Journal of Guidance, Control and Dynamics 17(2): 286-290
  • Colton S (2007). The balance filter. Retrieved in May, 15, 2016 from http://web.mit.edu/first/segway/#how
  • Inoue K, Nii K & Zhang Y (2009). Tractor guidance system for farm work using DGPS and gyroscope. Journal of Robotics and Mechatronics 21(3): 394-402
  • Kalman R E (1960). A new approach to linear filtering and prediction problems. Transactions of the ASMEJournal of Basic Engineering 82(Series D): 35-45
  • Kise M, Noguchi N, Ishii K & Terao H (2001). Development of agricultural autonomous tractor with an RTK-GPS and a FOG. Proceedings of the 4th IFAC Symposium on Intelligent Autonomous Vehicles, 5-7 September, Sapporo, pp. 103-108
  • Noguchi N, Reid J F, Zhang Q, Will J D & Ishii K (2001). Development of robot tractor based on RTK-GPS and gyroscope. ASAE Annual Meeting, 29 July-1 August, Sacramento, Paper No: 011195
  • Robinson L (2012). Think smart and small for the future of crop protection. Retrieved in May, 10, 2016 from http://www.fwi.co.uk/articles/26/06/2012/133520/ think-smart-and-small-for-the-future-of-cropprotection.htm
  • St-Pierre M & Gingras D (2004). Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system. 2004 IEEE Intelligent Vehicles Symposium, 14-17 June, Parma, pp. 831-835
  • Zhang Z, Noguchi N, Ishii K, Yang L & Zhang C (2013). Development of a robot combine harvester for wheat and paddy harvesting. 5th IFAC Conference on BioRobotics, 27-29 March, Sakai, Japan, pp. 45-48

Development of a Small-sized and Low-cost Attitude Measurement Unit for Agricultural Robot Application

Year 2018, , 33 - 41, 31.03.2018
https://doi.org/10.15832/ankutbd.446369

Abstract

The objective of this study was to develop a small-sized and low-cost unit to provide attitude measurements for lightloaded, small-sized and cost effective agricultural robot application. The attitude measurement unit comprised an electronic control unit (ECU) and a gyroscope and an accelerometer within a small-sized and low-cost IMU. In order to avoid the measurement limitations of a single sensor, a self-adaptive complementary filter and a Kalman filter were discussed and compared for sensor fusion. By comparison, in respect of preventing angle drift and maintaining dynamic characteristics, the Kalman filter has the significant advantage, especially in dynamic motion. In the comparison with a highly precise aviation-level fiber optic gyroscope (FOG), the results showed that the static angle drift was restrained by Kalman filter which reached the performance of the FOG. And in the series of farm experiments, the dynamic characteristic of the developed attitude measurement unit is close to the FOG performance in the sub-degree level. This is an acceptable accuracy for light-loaded, small-sized and cost effective agricultural robot application such as agriculture drone, greenhouse robots, harvesting robot arm and so on. 

References

  • Chen J, Lee S & Debra D B (1994). Gyroscope free strapdown inertial measurement unit by six linear accelerometers. Journal of Guidance, Control and Dynamics 17(2): 286-290
  • Colton S (2007). The balance filter. Retrieved in May, 15, 2016 from http://web.mit.edu/first/segway/#how
  • Inoue K, Nii K & Zhang Y (2009). Tractor guidance system for farm work using DGPS and gyroscope. Journal of Robotics and Mechatronics 21(3): 394-402
  • Kalman R E (1960). A new approach to linear filtering and prediction problems. Transactions of the ASMEJournal of Basic Engineering 82(Series D): 35-45
  • Kise M, Noguchi N, Ishii K & Terao H (2001). Development of agricultural autonomous tractor with an RTK-GPS and a FOG. Proceedings of the 4th IFAC Symposium on Intelligent Autonomous Vehicles, 5-7 September, Sapporo, pp. 103-108
  • Noguchi N, Reid J F, Zhang Q, Will J D & Ishii K (2001). Development of robot tractor based on RTK-GPS and gyroscope. ASAE Annual Meeting, 29 July-1 August, Sacramento, Paper No: 011195
  • Robinson L (2012). Think smart and small for the future of crop protection. Retrieved in May, 10, 2016 from http://www.fwi.co.uk/articles/26/06/2012/133520/ think-smart-and-small-for-the-future-of-cropprotection.htm
  • St-Pierre M & Gingras D (2004). Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system. 2004 IEEE Intelligent Vehicles Symposium, 14-17 June, Parma, pp. 831-835
  • Zhang Z, Noguchi N, Ishii K, Yang L & Zhang C (2013). Development of a robot combine harvester for wheat and paddy harvesting. 5th IFAC Conference on BioRobotics, 27-29 March, Sakai, Japan, pp. 45-48
There are 9 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Makaleler
Authors

Yufei Liu This is me

Noboru Nogıchı This is me

Kazunobu Ishıı This is me

Publication Date March 31, 2018
Submission Date June 15, 2016
Acceptance Date September 11, 2017
Published in Issue Year 2018

Cite

APA Liu, Y., Nogıchı, N., & Ishıı, K. (2018). Development of a Small-sized and Low-cost Attitude Measurement Unit for Agricultural Robot Application. Journal of Agricultural Sciences, 24(1), 33-41. https://doi.org/10.15832/ankutbd.446369

Journal of Agricultural Sciences is published open access journal. All articles are published under the terms of the Creative Commons Attribution License (CC BY).