Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs

Hasan Dilmaç; Veli İlçi; Emirhan Kaya

Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs

Abstract

Nowadays, autonomous vehicles (AVs) are employed for a wide range of jobs, including spraying, harvesting, and planting. For AVs to navigate autonomously, accurate heading knowledge of the vehicle is essential. Sensors such as the global navigation satellite system (GNSS) and inertial measurement unit (IMU) are used on AVs to produce heading information. Dual-frequency and RTK-capable systems with multiple antennas are used to increase the heading accuracy of GNSS. For IMUs, heading accuracy is directly related to the quality of the sensors, so high accuracy is achieved with expensive IMUs. However, with the development of micro-electro-mechanical system (MEMS) technology, studies are also being carried out on low-cost IMU solutions. In this study, the heading performances of three different sensors, a low-cost RTK/GNSS with multiple antennas, a tactical-grade IMU, and a low-cost MEMS IMU, were tested. An unmanned ground agricultural vehicle (UGAV) designed for spraying was driven on a line, and the data of the sensors mounted on the UGAV were collected. Heading accuracy was also examined according to the distance between the antennas of the RTK/GNSS system. As a result of the analysis, the average errors of RTK/GNSS, tactical-grade IMU, and low-cost IMU are 0.58, 0.60, and 4.24 degrees, respectively.

Keywords

Supporting Institution

Ondokuz Mayıs University

Project Number

This work was supported by the Ondokuz Mayis University under Grant PYO.MUH.1908.22.078

Ethical Statement

The manuscript or any parts of the manuscript have not been published and are not submitted elsewhere while in the review process for the journal.

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Details

Primary Language

English

Subjects

Transportation Engineering, Civil Engineering (Other)

Journal Section

Research Article

Authors

Hasan Dilmaç
0000-0001-6877-8730
Türkiye

Veli İlçi ^*
0000-0002-9485-874X
Türkiye

Emirhan Kaya
0009-0007-2633-3419
Türkiye

Publication Date

April 30, 2025

Submission Date

January 28, 2025

Acceptance Date

April 13, 2025

Published in Issue

Year 2025 Volume: 11 Number: 1

IZ

https://izlik.org/JA23PC89FK

Cite

RIS / Bibtex

APA

Dilmaç, H., İlçi, V., & Kaya, E. (2025). Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs. Gazi Journal of Engineering Sciences, 11(1), 153-166. https://izlik.org/JA23PC89FK

AMA

1.Dilmaç H, İlçi V, Kaya E. Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs. GJES. 2025;11(1):153-166. https://izlik.org/JA23PC89FK

Chicago

Dilmaç, Hasan, Veli İlçi, and Emirhan Kaya. 2025. “Heading Estimation for Agricultural Vehicles With Multi-Antenna RTK GNSS, Tactical-Grade and Low-Cost MEMS IMUs”. Gazi Journal of Engineering Sciences 11 (1): 153-66. https://izlik.org/JA23PC89FK.

EndNote

Dilmaç H, İlçi V, Kaya E (April 1, 2025) Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs. Gazi Journal of Engineering Sciences 11 1 153–166.

IEEE

[1]H. Dilmaç, V. İlçi, and E. Kaya, “Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs”, GJES, vol. 11, no. 1, pp. 153–166, Apr. 2025, [Online]. Available: https://izlik.org/JA23PC89FK

ISNAD

Dilmaç, Hasan - İlçi, Veli - Kaya, Emirhan. “Heading Estimation for Agricultural Vehicles With Multi-Antenna RTK GNSS, Tactical-Grade and Low-Cost MEMS IMUs”. Gazi Journal of Engineering Sciences 11/1 (April 1, 2025): 153-166. https://izlik.org/JA23PC89FK.

JAMA

1.Dilmaç H, İlçi V, Kaya E. Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs. GJES. 2025;11:153–166.

MLA

Dilmaç, Hasan, et al. “Heading Estimation for Agricultural Vehicles With Multi-Antenna RTK GNSS, Tactical-Grade and Low-Cost MEMS IMUs”. Gazi Journal of Engineering Sciences, vol. 11, no. 1, Apr. 2025, pp. 153-66, https://izlik.org/JA23PC89FK.

Vancouver

1.Hasan Dilmaç, Veli İlçi, Emirhan Kaya. Heading Estimation for Agricultural Vehicles with Multi-antenna RTK/GNSS, Tactical-Grade and Low-Cost MEMS IMUs. GJES [Internet]. 2025 Apr. 1;11(1):153-66. Available from: https://izlik.org/JA23PC89FK