Dynamic performance of global positioning system velocity sensor for extremely accurate positioning

Chosa, Tadashi; Omine, Masaaki; Itani, Kenji

doi:10.1016/j.biosystemseng.2007.01.010

Cited by 10 publications

(4 citation statements)

References 3 publications

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“…The accuracy is influenced by environmental conditions (stubble coverage, dust, crop motion, and wind) 2. High cost Wan Ismail et al [22] ; Imou et al [74,75] ; Keskin et al [76] ; Chosa et al [77] ; Pexa et al [78] ; Zhang et al [79]…”

Section: High Accuracy 2 Easy Installationmentioning

confidence: 99%

Review of electro-hydraulic hitch system control method of automated tractors

Wang¹,

Dong²,

Wang³

et al. 2021

International Journal of Agricultural and Biological Engineering

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The automatic and intelligent degree of tractor hitch system determines the operations quality, efficiency, tractor power output and energy consumption, and automatic control of electro-hydraulic hitch is one of the key technical problems in the realization of automated tractor. In this study, the adjustment methods and characteristics of electro-hydraulic hitch system were summarized. The development of electro-hydraulic hitch control technologies was elaborated and analyzed from both the electro-hydraulic control strategy and slip control strategy perspectives. The implementation methods and control characteristics were discussed. A new idea for the development of automated tractor was put forward that integrating cutting-edge technologies such as big data, fusion control and artificial intelligence. In addition, based on the precise and efficient control of electro-hydraulic hitch system, a high reliability of the control system of the tractor with intelligent application of the control algorithm was obtained. The results can provide a reference for the precise operation of automated tractors under the big data in agriculture.

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Section: High Accuracy 2 Easy Installationmentioning

confidence: 99%

Review of electro-hydraulic hitch system control method of automated tractors

Wang¹,

Dong²,

Wang³

et al. 2021

International Journal of Agricultural and Biological Engineering

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“…However, it is economically infeasible to incorporate expensive positioning systems in small-scale agricultural machinery in relatively small fields. Consequently, researchers are actively seeking techniques to attain high accuracy at a low cost (Chosa, Omine, & Itani, 2007;Barawid, & Noguchi, 2008;Barawid, & Noguchi, 2010). Recently, low-cost RTK-GNSS systems were introduced in agricultural machinery (Kaizu, Tsutsumi, Igarashi, & Imou, 2018;Han, Park, Park, & Kwon, 2019).…”

Section: Introductionmentioning

confidence: 99%

Automatic travelling of agricultural support robot for a fruit farm -Verification of effectiveness of RTK-GNSS and developed simulator for specification design

2023

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Labour shortages and fatal accidents in agricultural work have recently emerged as critical problems in Japan, necessitating productivity enhancement, workload reduction, and safety assurance. Therefore, in Japan and countries with similar agricultural environments, the use of small and inexpensive agricultural robots that can be used in mountain farms and orchards is desirable. In this study, a dynamic positioning test was performed in orchards in a mountainous region to verify the positioning accuracy and stability of the Global Navigation Satellite System (GNSS) and real time kinematic (RTK)-GNSS. In addition, a simulator for an agricultural robot that could consider the environmental information of orchards was developed, and driving tests were conducted using the GNSS data acquired in the simulation. The error of the GNSS module was set to be higher than that for the measured value, and robot travelling in the orchard was simulated. The results of GNSS positioning tests in an orchard near a mountainous area indicate that in the specific environmental conditions, the RTK-GNSS and stand-alone (SA)-GNSS can attain a positioning accuracy with an order of tens of centimetres and few metres, respectively. Moreover, the simulation results based on the GNSS positioning results indicate that a vehicle implementing RTK-GNSS and a simple obstacle detection sensor can travel autonomously in a farmyard without colliding with the tree rows. In contrast, a vehicle implementing SA-GNSS and a simple obstacle detection sensor cannot drive autonomously in an orchard and must realise self-positioning using a more accurate sensor. Therefore, the proposed approach of realising simulations of autonomous agricultural robots based on GNSS data from a real orchard can facilitate the evaluation of practical agricultural robots and confirming safety traveling root. The results demonstrate the possibility of development of small agricultural robot for orchards. We conducted the GNSS positioning test in an orchard at an altitude of approximately 830 m, and a similar performance can be expected under similar agricultural situations because the error of the GNSS module was set to be higher than the measured value in driving simulation test.

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“…Extensive research has been dedicated to localization for agricultural vehicles, with different studies varying in terms of the type of sensor used in processing methods, and accuracy, real-time performance, and cost. The Real-Time Kinematic-Global Navigation Satellite System (RTK-GNSS) is widely used in agricultural vehicles due to its accessibility and centimeter-level location accuracy [3][4][5], but it is vulnerable to interference and is incapable of perceiving the environment, limiting its usage as the primary sensor of the agricultural vehicle perception system. Inertial measurement units (IMUs) are prone to drift and can be expensive in high-precision applications.…”

Section: Introductionmentioning

confidence: 99%

Stereovision-Based Ego-Motion Estimation for Combine Harvesters

Chen

Guan

et al. 2022

Sensors

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Ego-motion estimation is a foundational capability for autonomous combine harvesters, supporting high-level functions such as navigation and harvesting. This paper presents a novel approach for estimating the motion of a combine harvester from a sequence of stereo images. The proposed method starts with tracking a set of 3D landmarks which are triangulated from stereo-matched features. Six Degree of Freedom (DoF) ego motion is obtained by minimizing the reprojection error of those landmarks on the current frame. Then, local bundle adjustment is performed to refine structure (i.e., landmark positions) and motion (i.e., keyframe poses) jointly in a sliding window. Both processes are encapsulated into a two-threaded architecture to achieve real-time performance. Our method utilizes a stereo camera, which enables estimation at true scale and easy startup of the system. Quantitative tests were performed on real agricultural scene data, comprising several different working paths, in terms of estimating accuracy and real-time performance. The experimental results demonstrated that our proposed perception system achieved favorable accuracy, outputting the pose at 10 Hz, which is sufficient for online ego-motion estimation for combine harvesters.

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Dynamic performance of global positioning system velocity sensor for extremely accurate positioning

Cited by 10 publications

References 3 publications

Review of electro-hydraulic hitch system control method of automated tractors

Review of electro-hydraulic hitch system control method of automated tractors

Automatic travelling of agricultural support robot for a fruit farm -Verification of effectiveness of RTK-GNSS and developed simulator for specification design

Stereovision-Based Ego-Motion Estimation for Combine Harvesters

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