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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
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Volume: 04 Issue: 05 | May-2015, Available @ http://www.ijret.org 520
STUDY ON THE CORRECT TILT OF THE NAVIGATION OF
AGRICULTURAL MACHINERY BASED ON GPS
Hu Lei1
, Zhou Zhifeng2
1
College of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai, China
2
College of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai, China
Abstract
In recent years, the development of GPS navigation technology is very fast, has been applied to almost everywhere in life,
especially in the field of agricultural production in recent years is more important. In foreign countries, GPS navigation
application in agricultural production development has been very mature, but in China, the application of GPS in agricultural
machinery navigation is still in the stage of research and development, application in agricultural machinery navigation, the GPS
navigation technology to achieve accurate positioning: the most important thing is to tilt, lateral posture correction, pure line
operation and a series of work based on path tracking. The GPS carrier phase measurement technology, static positioning can not
only realize agricultural accurate and real-time dynamic positioning; but also can achieve high-precision attitude measurement
based on observation of carrier phase receiver. Through the vector in the process of operation because of the navigation error of
surface height fluctuation generated by the tilt correction algorithm, can be derived on the agricultural machinery navigation
correction, because in the process of agricultural navigation operation, positioning error vector produced by the inclination will
directly affect the pure path tracking algorithm based on the trajectory of the straight line thus, effects of mechanization and
efficiency of intelligent agricultural production, so the research of calibration for the error caused by the tilt is of great
significance. Considering the difficulty of the experiment, our research is a double side antenna attitude, so in the original
location of the next step is to collect model cars some simulation of agricultural operations process data, and then use MATLAB
to carry out simulation on the PC machine, according to before and after correction for the navigation of agricultural machinery
industry to observe the trajectory correction effect. .
Keywords: GPS positioning; attitude measurement; tilt correction; simulation
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1. INTRODUCTION
In this paper, the main principle of GPS navigation, carrier
phase attitude side principle, finally through the analysis of
the positioning error due to body tilt generated, correction
algorithm is derived, to verify the effectiveness of the
approach by MATLAB simulation.
2. THE PRINCIPLE OF GPS POSITIONING
2.1 The Principle of Absolute Positioning
Absolute positioning, also known as single point
positioning, this is a kind of positioning using a receiver
mode, it is determined by the absolute coordinates of the
receiver antenna.
1.2 The Principle of Relative Positioning
Relative positioning, also known as differential positioning,
the positioning mode uses the receiver of more than two
units, at the same time were observed on the same set of
satellite receiver, dynamic GPS observation of their value
and DGPS data from the reference to the receiver, you can
eliminate various errors, calculate the 3D coordinates of the
user accurately, to determine the mutual relationship
between the position of the receiver antenna. GPS relative
positioning, measurement of the position is relative to a
known point position, but not the absolute position in the
WGS-84 coordinates of.
3. THE PRINCIPLE OF CARRIER PHASE
MEASUREMENT
3.1 The Basic Principle of GPS Carrier Phase
Measurement
Carrier phase measurement difference carrier phase is
defined as the reference satellite carrier phase and receiver
from observation and tracking to produce
(1)
In the formula: for the j satellites carrier phase in
emission; reference carrier phase generated for GPS
receiver in
3.2 Integer Ambiguity and Phase Cycle Slip
Problem is the Carrier Phase Measurement and
Data Processing of the Two Major Problems
The carrier signal is a periodic sinusoidal signal, fractional
part of the actual phase measurement can only measure less
than a week, so the existence of N to solve the ambiguity
problem, of the existence of such multiple values, is only the
beginning of the carrier week count because when the
receiver only from the satellite tracking is effective. If can

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get the initial N, then to the high precision carrier
wavelength to determine the path length of the satellite and
the user receiver antenna solution or multiple antenna
baseline attitude.
In addition, the carrier phase measurement, must
continuously track the carrier, but due to the influence of
receiver fault or external interference and other factors, will
often lead to tracking temporarily interrupted, which will
produce the phase jump of the week.
4. THE APPLICATION OF CARRIER PHASE
MEASUREMENT FOR DETERMINATION OF
ATTITUDE
4.1 Three Coordinates Measuring the Pose of GPS
The 3D pose parameters, short motion carrier in the three-
dimensional orientation parameters relative to the global or
local level coordinate system -- vector coordinate system in
the special coordinate system, the moving vehicle yaw angle
and lateral rolling angle and pitching angle .
GPS attitude measurement means that GPS signal receiving
antenna are respectively arranged in several different
positions of movement carrier, using GPS carrier phase
measurement to calculate 3D attitude parameters of moving
vehicle. Plane GPS attitude measurement platform,
determined only by the 3 points or parallel vector, therefore,
at least on the moving carrier to install three GPS signal
receiving antenna, in order to form two independent
baselines, and the implementation of GPS attitude
measurement. However, GPS is measured by WGS-84
geodetic coordinate system, and its observation value
transform to the carrier coordinates and local level
coordinate system.
4.2 The Transformation between the Three
Coordinate Systems of the Gps Side Posture
Through the definition of three kinds of coordinate system,
coordinate transformation relation between can be derived
WGS-84 and local level coordinate transformation can be
derived; the relationship between the local level coordinate
system and vector coordinate system. Through down can be
found between them transform is accomplished through an
orthogonal matrix. GPS is 3 for measuring the pose of the
attitude angle. Because the antenna baseline coordinate
components in carrier coordinate system, and the length of
the baseline in the initialization phase can be accurately
measured, and treat it as a known value. Therefore, as long
as the real-time measured antenna baseline at the local level
coordinate system in the coordinates, we can according to
the local level between the coordinates and the coordinates
of the vector formula for solving the corresponding attitude
angle.
4.2.1 Coordinate Transformation Relation between
WGS-84 and the Local Level Coordinate
( ) (B+ ) ( +L)*(
- ) (2)
Type: as the station coordinates, In the process of
solving the attitude measurement, it is mainly measured by
the antenna point coordinates (LLS axis).
4.2.2 The Transformation between the Local Level
Coordinate System and Vector Coordinate System
( ) ( ) ( ) (3)
5. DOUBLE SIDE ANTENNA ATTITUDES
5.1 The General Principle of Application of Carrier
Phase Measurement
GPS is a dual antenna attitude measurement at two different
positions of a moving carrier are respectively installed GPS
signal receiving antenna, using GPS carrier phase
measurement to calculate two-dimensional attitude
parameters of moving vehicle. The motion vector using two
antenna GPS attitude determination, can only estimate the
attitude angle two.
Fig-1: Two antenna schematic diagram in the vector
coordinate system
For the antenna configuration on a rigid body, the distance
between the antennas can be accurately measured, and the
motion state remains constant, coordinate position of two
antennas in carrier coordinate system is ensured. Figure 2
shows the L12 is the length A12 baseline. Vector directional
antenna A1 to A2 antenna can determine the yaw angle,
coordinate antenna A2 (L12,0,0), the A1 is set to the origin
of the antenna carrier coordinates and local level coordinate

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system, can directly calculate the yaw angle and
pitching angle :
(4)
(5)
Through the observation of the GPS carrier phase, the 3D
position can be extremely accurately determination of
relative on antenna A2 and A1 in WGS-84 geocentric
coordinate system, namely the projection in the geocentric
coordinate system in the baseline, according to the
conversion of WGS-84 coordinates to LLS (local level
system) formula of coordinate is transformed into
coordinates in antenna A1 for the origin of the local level
coordinate system, and then according to the above formula
(4) and (5) can calculate the yaw angle and pitching angle.
5.2 The Individual Difference in Attitude
Measurement and Double Difference
GPS attitude determination using carrier phase observation
method, the instantaneous phase of GPS carrier signal
measurement of both ends of the baseline antenna receiving
difference, vector direction method for solving the phase
difference of the baseline, to determine moving body
posture; pseudo range method is essentially a method of
phase measurement. The definition of baseline AB in
satellite line of sight on the projection of up to 1 for the
carrier phase difference between antenna A and B
(6)
N is the number of integer cycle, n is cycle phase fraction.
Because of in the actual measurement, the instantaneous
phase cannot be measured directly, can only be measured
between satellite carrier signal and receiver reference signal
phase difference, i.e.
= (7)
Represents the phase satellite at time T, is the
receiver phase, Called ambiguity, is the measurement
error. Then, the carrier phase difference measurement:
Make: �� .
The single carrier phase difference can not only eliminate
the ionosphere, troposphere delay error, but also can
eliminate the error of satellite orbit. Further, in order to
eliminate the receiver clock error, can also be used for
double difference, double difference is obtained in
individual difference equation is selected as a main satellite,
two main antenna for satellite and other different satellites
were obtained with single difference observations and solve
the difference, i.e.
(9)
Known as the double difference, It eliminates the
receiver clock error and the machine initial phase error, but
there is still ambiguity problem, if ambiguity, can get the
solution of AB baseline vector through the least squares
algorithm.
6. TILT CORRECTION OF GPS POSITIONING
ERROR IN THE NAVIGATION OF
AGRICULTURAL MACHINERY
6.1 GPS Navigation System Is An Important
Equipment Of Precision Agriculture
Its accuracy directly affects the precision of navigation. In
the field of agricultural machinery driving, affected by the
surface fluctuation effect of car will have a certain degree of
tilt, as shown in figure 3
Fig-2: model car pavement impact attitude angle change
Note: �� represents the pitch produced by the inclination
angle before and after; �� represents the roll angle of tilt.
In the navigation of agricultural machinery in the control
process, the main use of two coordinate systems, namely the
local level coordinate system and body coordinate system,
as shown in figure 4. The local level coordinate system is
represented by a diagram of the x o y coordinate system.
The vehicle coordinate system defined as the vehicle body
centroid coordinates origin, the body direction as y axis, the
right side of the vertical direction as x axis, represented by a
diagram of the coordinate system. Figure 4 the
parameter specified for the current vehicle heading angle.

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Fig-3: the above x o y on behalf of the local level coordinate
system; represents body coordinate system;
represent the heading angle.
For the correction of GPS positioning error caused by the
body tilt, first calculate positioning errors and error of the
positioning in the longitudinal direction of vehicle tilt in the
horizontal direction in the body coordinate system:
(10)
(11)
Type H means Vehicle antenna height of apart from the
ground.
The projection of and transformation to the local level
coordinate system, get the car body tilting position error
produced in the horizontal direction and the error of position
in the longitudinal direction:
(12)
(13)
Assume that to the original location level model
car at k coordinates, for positioning after the tilt
correction K model car time coordinates, can be derived
from the relationship between the two is:
(14)
(15)
In the formula: �ק� is the heading angle for body at k time.
7. THE SIMULATION EXPERIMENT BASED
ON THE MATLAB COLLECTION OF THE
ORIGINAL NAVIGATION DATA
7.1 Model Cars Expected Drive Trajectory When
the Baseline is Formed
Fig-4: the horizontal axis represents positive direction of the
local level coordinate system, the angle between the baseline
AB and the horizontal axis is the initial heading angle, the
horizontal axis and vertical axis units are meters.
7.2 Simulation of the Traveling Path of the Model
Car before joining the tilt Correction Algorithm
Fig-5: the simulation chart shows the horizontal error size
between the car real driving trajectory and the baseline AB
in the test process without addition of the tilt calibration
algorithm.

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7.3 Simulation of the Traveling Path of the Model
Vehicle after the Addition of the Tilt Correction
Algorithm
Fig-6: the simulation chart shows the horizontal error size
between the car real driving trajectory and the baseline AB
in the test process with addition of the tilt calibration
algorithm.
8. CONCLUSION
By comparison, finding GPS navigation model car is closer
to the ideal expected path than no correction to the running
track after joining the tilt correction algorithm. So in the
work of agricultural machinery navigation, the positioning
error caused by the body tilt calibration is necessary, the
agricultural machinery production efficiency has been
improved, significant.
ACKNOWLEDGEMENTS
The author would like to thank Professor Zhou Zhifeng who
helped and supported with this work. This work was
supported by Shanghai University of Engineering Science
postgraduate innovation project(14KY0131)
REFERENCES
[1]. Hatch R. Ambiguity Resolution in the Fast Lane [R].
ION GPS-89, Colorado, Sept, 1989:45-50
[2]. Elliott D K. Understanding GPS Principles and
Applications. Artech1 House.1996
[3]. Hatch R. Ambiguity Resolution in the Fast Lane [R].
ION GPS-89, Colorado, Sept, 1989:45-50
[4]. Frank Van Grass, Michael Bra. GPS Interferometric
Attitude and Heading Determination: Initial Flight Test
Results. GPS World, 1991, 38(4):297-316
[5]. Liu Yu. GPS Carrier phase measurement positioning
theory. Navigation, 1994, 03: 52-63
[6]. Hatch, R. Ambiguity Resolution in the Fast Lane,
Proceedings of the Second International Technical Meeting
of the Satellite Division of the ION, GPS-89, Colorado
Springs, CO, September 26-29, 1989.
[7]. Wolf, R., Hein, G W., Eissfeller1, B., etc., An
Integrated Low-cost GPS/INS Attitude Determination and
Position Location System, in Proceedings of ION GPS-96,
September 17-20, 1996: 975-981: Kansas City, Missouri.
[8]. Mathur1, N.G., A New Coning Attitude Algorithm for a
Low Cost INS-GPS Integration, in Proceedings of ION
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[9]. Brown Ronald A. Instantaneous GPS Attitude
Determination .Proceeding of IEEE Position Location and
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[10]. Remo B. W. Pseudo-kinematic GPS results using the
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36.
BIOGRAPHIES
Hu Lei: Reading of postgraduate, College of Mechanical
Engineering, Shanghai University of Engineering Science.
The main research filed for the computer and control,
intelligent agricultural equipment.
Telephone: 15317860239
Email:871258250@
Zhou Zhifeng: College of Mechanical Engineer, Shanghai
University of Engineering Science, PhD, associate
professor. Main research filed for the computer
measurement and control equipment, signal processing.
E-mail:zhousitu@126.com

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Study on the correct tilt of the navigation of agricultural machinery based on gps

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