A Hybrid GNSS/RSSI Localization Framework for Precision Tractor Navigation: System Evaluation and Analysis

Off-road tractor automation needs navigation technology. In that regard, this study discusses a hybrid location-navigation model, which integrates RSSI and GNSS measurements. Two GNSS-enabled DGNSS RTK modules were mounted to a User Portable Device (UPD) alongside a configuration of fixed position wireless routers to measure the RSSI to/from the UPD. The system was tested through various static, dynamic, and real-world scenarios to benchmark the localization capability of the system using a range of available data. The results indicated the DGNSS receiver improved localization to an order of a meter and a min-max based algorithm was shown to be superior to the traditional trilateration method. Various hypothesis to determine signal loss of the model RSSI further improved RSSI based localization and demonstrated system flexibility. Keywords