processing could be performed in the imu processor in this embodiment a memory 1310 is included for saving adjustment information or positional data as will become clearer from the discussion below inertial movement units imus or inertial sensors that are employed are typically of two types rate gyroscopes which measure the turn rate of a body around one or more axes and accelerometers which measure acceleration in the direction of one or more axes these can be combined using an algorithm such as a kalman filter to produce position velocity and attitude information more accurately than the gnss receiver alone and or also project the gnss information from the antenna position to another point on the vehicle implement compensating for antenna roll and pitch etc in order to guide or auto nudge the vehicle or agricultural implement the present invention includes path sensors mounted on the vehicle or implement to provide additional vehicle implement position information with respect to the desired path in the case of pre existing furrows in the ground that define the vehicle path a furrow sensor as depicted in fig3 5 or a wand sensor such as the sensor 200 shown in fig2 could be secured to the vehicle or implement in a conventional manner however in one embodiment instead of using the signals from the path sensors directly to make micro adjustments to the vehicle path path sensor data may be gathered and stored in memory an algorithm uses the signal information from one or more path sensors that was previously gathered during previous swaths or from previous passes down the same swath to define a guidance path this information is used to calculate any necessary path offsets either perpendicular to the current guidance path or as an xy or east north offset.