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.