Enhanced Agricultural Vehicle Positioning through Ultra-Wideband-Assisted Global Navigation Satellite Systems and Bayesian Integration Techniques

Kaiting Xie, Zhaoguo Zhang () and Shiliang Zhu
Additional contact information
Kaiting Xie: The Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
Zhaoguo Zhang: The Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
Shiliang Zhu: The Faculty of Modern Agricultural Engineering, Kunming University of Science and Technology, Kunming 650500, China

Agriculture, 2024, vol. 14, issue 8, 1-17

Abstract: This paper introduces a cooperative positioning algorithm for agricultural vehicles, which uses the relative distance of the workshop to improve the performance of the Global Navigation Satellite Systems (GNSS), to improve the positioning accuracy and stability. Firstly, the extended Kalman filter (EKF) fuses the vehicle motion state data with GNSS observation data to improve the independent GNSS positioning accuracy. Subsequently, vehicle state and observation models are formulated using Bayesian theory, incorporating GNSS/UWB data with UWB tag network ranging and with GNSS positioning data among agricultural vehicles and Inter-Vehicular Ranges (IVRs). This integration addresses the significant drift issue in GNSS elevation positioning by employing a high-dimensional decoupling algorithm, standardizing the discrete elevation data, and improving the data’s continuity and predictability. A particle filter is used to refine the vehicle’s position estimation further. Finally, experiments are carried out to verify the robustness of the proposed algorithm under different working conditions.

Keywords: GNSS; UWB; agricultural vehicles; cooperative localization; information fusion (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2077-0472/14/8/1396/pdf (application/pdf)
https://www.mdpi.com/2077-0472/14/8/1396/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jagris:v:14:y:2024:i:8:p:1396-:d:1458833

Access Statistics for this article

Agriculture is currently edited by Ms. Leda Xuan

More articles in Agriculture from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().