Comparison of four different methods for agricultural positioning using GPS and IMU

In this research، four different positioning methods were compared in order to evaluate their accuracy، using a remotely controlled robot on a specific route. These methods included: using a single GPS module، combining the data from three GPS modules، using an Inertial Measurement Unit (IMU)، and GPS/IMU data fusion. The comparison of these four methods showed that GPS/IMU data fusion along with a Kalman filter was the most precise method، having a root mean square error of 23. 4cm. Integrating the data acquired simultaneously from three GPS modules with fixed and equally spaced position and far enough from each other، had a root mean square error of 31. 3cm was the second most precise method.. Also analysis of the IMU data showed that due to cumulative errors، it was not a suitable method using a single IMU for positioning.