A simple method to improve autonomous GPS positioning for tractors

Jaime Gomez-Gil, Sergio Alonso-Garcia, Francisco Javier Gómez-Gil, Tim Stombaugh

Research output: Contribution to journalArticlepeer-review

37 Scopus citations


Error is always present in the GPS guidance of a tractor along a desired trajectory. One way to reduce GPS guidance error is by improving the tractor positioning. The most commonly used ways to do this are either by employing more precise GPS receivers and differential corrections or by employing GPS together with some other local positioning systems such as electronic compasses or Inertial Navigation Systems (INS). However, both are complex and expensive solutions. In contrast, this article presents a simple and low cost method to improve tractor positioning when only a GPS receiver is used as the positioning sensor. The method is based on placing the GPS receiver ahead of the tractor, and on applying kinematic laws of tractor movement, or a geometric approximation, to obtain the midpoint position and orientation of the tractor rear axle more precisely. This precision improvement is produced by the fusion of the GPS data with tractor kinematic control laws. Our results reveal that the proposed method effectively reduces the guidance GPS error along a straight trajectory.

Original languageEnglish
Pages (from-to)5630-5644
Number of pages15
Issue number6
StatePublished - Jun 2011


  • Agricultural vehicles
  • Control
  • Global positioning system (GPS)
  • Guidan

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Instrumentation
  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering
  • Biochemistry


Dive into the research topics of 'A simple method to improve autonomous GPS positioning for tractors'. Together they form a unique fingerprint.

Cite this