@article{bevly_incorporating_1999,
	title = {Incorporating {INS} with {Carrier}-{Phase} {Differential} {GPS} for {Automatic} {Steering} {Control} of a {Farm} {Tractor}},
	volume = {108},
	issn = {0096-736X},
	url = {https://www.jstor.org/stable/44723056},
	abstract = {This paper evaluates the use of a low cost inertial navigation system (INS) combined with Carrier-Phase Differential GPS (DGPS), to provide continuous position and attitude estimation for the control of a farm tractor. The INS system is used for dead-reckoning navigation to control the vehicle through short GPS outages. An Extended Kalman filter combines INS and Doppler radar measurements with cm-level Carrier-Phase Differential GPS measurements for continuous position and attitude estimation of the tractor. Results are given which verify the ability of the INS system to provide a heading accuracy within ±0.6° for control of the tractor. Additionally it is shown that the dead-reckoning system can provide position and attitude estimation to control the tractor to within ±0.3 meters through a short GPS outage.},
	urldate = {2024-06-20},
	journal = {SAE Transactions},
	author = {Bevly, David M. and Rekow, Andrew and Parkinson, Bradford},
	year = {1999},
	pages = {339--345},
}

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