Designing precision guidance systems for agricultural applications
The use of satellite navigation systems has become a familiar part of our daily life. Whether it is in our vehicles to help us find our way to our destination, navigate us around traffic delays or to locate us within an unfamiliar city, GPS-based navigation saves us an immense amount of time and makes the experience a lot less stressful.
In most cases the degree of accuracy reported by the GPS is adequate for our purposes. However, as the numbers of potential applications grow so does the need, in some cases, for a lot more accuracy and repeatability in the location information provided. One such example is for agricultural applications, specifically for use in sowing, fertilizing and harvesting crops.
Covering large fields, potentially across varied terrain, and with sufficient accuracy to drive a tractor semi-autonomously (auto steered) down exactly the same tracks between furrows laid when the crops were sown requires extreme precision.
The reasons behind this approach include increased density of crop sowing, and hence yield and, when used in conjunction with other satellite-based field moisture and crop monitoring applications, the ability to irrigate, spray insecticides and fertilizers in the most cost-effective manner possible. Achieving such precision control however raises two technical challenges.
Firstly, the accuracy of the derived GPS data needs to be improved such that the repeatable accuracy is better than +/- 15cm and, secondly, that changes in terrain and the tractor’s exact position over the ground can be determined.
Achieving the positional accuracy has been made possible using a technique called carrier-phase enhancement (CPGPS) or also named real time kinematic (RTK). This approach measures the phase of the GPS signal carrier rather than the timing information content contained within the signal.
The practical implementation of RTK however has a number of difficulties in comparing signal phase difference and a popular way to access the more precise phase measurements are by using a low cost radio modem to retransmit timing information from a base station to cover a given area. In dense farming regions suppliers of tractor guidance systems have set up a network of base stations in order that farmers can take full advantage of the precise location capabilities. Many suppliers are quoting sub 3cm repeatable accuracy using the RTK approach.
Being able to position a tractor to this degree of accuracy is impressive but there is one fundamental problem. Measurement of the GPS data really means that you know precisely where the antenna is situated, and typically this is in the centre of the cab roof.
You can see the need to compensate for the tractor’s exact centre desired position over the ground rather than where the antenna is situated. In this case the tractor is driving along a slope but it could equally be driving up a slight slope in which case the position would still need to be adjusted.
Achieving positional adjustments are an ideal application for MEMS-based accelerometers and gyroscopes. Recent advances in MEMS technology has resulted in significant improvements in stability, noise and immunity to mechanical shock, all of which are vital for such precision agricultural applications involving moving heavy machinery over undulating terrain. In this way the slope, direction of movement, and the change of the slope can be accurately measured. An accelerometer is used to measure the angle of inclination relative to the Earth’s gravity.
Due to the accelerometer’s measurement principle, it is also disturbed by the machine’s natural movement and motion making the inclination information imprecise. The gyroscope measures angular rate (output in degrees per sec), and therefore can be used to detect the change of inclination angle.
In moving machine applications, such as in a large tractor, use of either an accelerometer or gyroscope alone are not enough to provide precise inclination information, but combining the two with an advanced algorithm gives accurate inclination information.
The principle is that an accelerometer is used for the static inclination angle and the gyroscope output is used to compensate for tractor motion seen in the accelerometer signal and so enabling dynamic inclination measurement.