DEVELOPMENT OF AUTO-GUIDANCE ERROR MEASUREMENT SYSTEM USING LASER DISTANCE SENSORS

Abstract. The cross track error (XTE) is a main parameter of auto-guidance system evaluation standards. However it is not easy to evaluate an auto-guidance performance following the standards because there is no standard device for it. The objective of this study was to develop an auto-guidance error measurement device supporting ASABE X605 standard. In order to calculate a position of a tractor, five laser distance measurement sensors were used. One sensor, which was for long-range distance measurement, was used to measure for travel distance and velocity. Other four sensors, which were for mid-range distance measurement, were used for lateral error measurement. Stationary test and driving test were conducted and the results were compared with RTK-DGPS signal. At stationary test, average error of the tracking sensor system was 1.99 mm and average error of RTK-DGPS was 15.19 mm. The trajectories measured by the tracking sensor system on manual driving test were smooth and stable. Their average difference was 52.88 mm. The tracking sensor system could be an alternative method to measure auto-guidance lateral error.