2026-09-08T03:05:30Zhttps://gredos.usal.es/oai/request

oai:gredos.usal.es:10366/1710172026-04-18T00:01:31Zcom_10366_4613com_10366_4576com_10366_3823col_10366_4615

Gomez Gil, Jaime Alonso García, Ángel Alonso Garcia, Sergio Gómez Gil, Francisco Javier 2026-04-17T10:11:46Z 2026-04-17T10:11:46Z 2026-03-24 0168-1699 http://hdl.handle.net/10366/171017 10.1016/j.compag.2026.111612 1872-7107 [EN] This study assesses the performance of no-fee GNSS augmentation systems for tractor guidance. Five no-fee augmentation systems: EGNOS, GLIDE, RTK, VRS-NRTK, and on-site RTK were evaluated in both static and guidance tests over short- and long‑term periods using three GNSS receiver types: low-cost Navilock NL8022MP, mid-range Novatel Smart2, and high-end Harxon TS108PRO. Static tests recorded 24 h of position data from 14 receiver-augmentation configurations on a fixed surface. Guidance tests recorded trajectory data from the 14 configurations during straight-line guidance using a tractor equipped with two GNSS receivers, one under test and one high-precision reference. Results found that: (i) unaugmented GNSS resulted in guidance errors of 2–3 m, reduced below 1 m in pass-to-pass intervals shorter than 15 min; (ii) EGNOS reduced these guidance errors by ∼41%; (iii) GLIDE reduced guidance errors to below 20 cm for pass-to-pass intervals shorter than 15 min, with no long-term improvement; (iv) RTK guidance error decreased as baseline length shortened: >100 km yielded > 17 cm, 20–100 km yielded 3–20 cm, and < 20 km yielded 2–3 cm; (v) VRS-NRTK slightly outperformed RTK with similar baseline lengths; and (vi) on-site RTK enabled 1 cm guidance error. In summary: low-cost receivers without augmentation or with EGNOS result in metre-level errors; mid-range receivers with GLIDE deliver decimetre-level guidance errors in the short term; and high-end receivers using on-site RTK or VRS-NRTK on baselines up to 100 km achieve centimetre-level errors, enabling farmers to replicate tractor trajectories consistently year to year. eng https://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess Attribution-NonCommercial-NoDerivatives 4.0 International Tractor guidance GNSS augmentation system EGNOS GLIDE RTK VRS Performance assessment of no-fee GNSS augmentation systems for tractor guidance info:eu-repo/semantics/article