Fused inertial measurement unit and real time kinematic-global navigation satellite system data assessment based on robotic total station information for in-field dynamic positioning

Accuracy assessment of in-field absolute position is necessary in order to perform agricultural operations related to precision farming. In the present paper, a robotic total station was used to assess real time kinematic-global navigation satellite system (GNSS) position data. The total station was tracking a prism alongside a GNSS antenna. Experimental results indicated an root-mean-square (RMS) distance error from 0.006 to 0.061 m. The calculated position of the prism using GNSS and inertial measurement unit data was compared with the measured one from the total station. In this case, the RMS error varied from 0.022 to 0.155 m.