This study was conducted to develop robust navigator which could be useful in positioning for precision farming through
developing plural GPS receiver with 4 sets of GPS antenna. In order to improve positioning accuracy by integrating GPS
signal received simultaneously, the algorithm for processing effectively plural GPS signal was designed. It's performance
was tested on simulation program and a fixed point on WGS 84 coordinates. The briefs of results of this study are as
follows.
1. 4 sets of lower grade GPS and INS signal was integrated by kalman filter algorithm and geometric algorithm to increase
positioning accuracy of data.
2. Prototype was composed of 4 sets of GPS receiver and INS. All Star which manufactured by CMC, gyro compass
made by KVH, ground speed sensor and integration S/W based on RTOS(Real Time Operating System).
3. Integration algorithm was simulated by developed program which could generate random position error less then 10
m and tested with the prototype on fixed position.
4. When navigation data was integrated by geometrical correction and kalman filter algorithm, positioning error estimated
was less then 0.6 m and 1.0 m respectively in simulation and fixed position test.