Experimental Testbed and Methodology for the Assessment of RTK GNSS Receivers Used in Precision Agriculture

Pini, Marco; Marucco, Gianluca; Falco, Gianluca; Nicola, Mario; Wilde, Wim De

doi:10.1109/access.2020.2965741

Cited by 34 publications

(22 citation statements)

References 14 publications

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“…It can work smoothly without the influence of barriers. The errors of the measurement are not accumulated [16][17][18].…”

Section: Principle Of the Rtk Technologymentioning

confidence: 99%

“…However, research related to MMW seeker performance evaluation is relatively rare. Motivated by the advantages of short measurement and high precision of the real-time kinematic (RTK) technology [16][17][18], an evaluation method to realize accurate performance evaluation of the MMW seeker is proposed in this paper. We mount the MMW seeker on a flyable platform which can simulate the missile's trajectory to construct the evaluation system.…”

Section: Introductionmentioning

confidence: 99%

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Achieving Millimetre Wave Seeker Performance Evaluation Based on the Real-Time Kinematic

Chen

Liu

et al. 2020

Journal of Sensors

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The millimetre wave (MMW) seeker can realize target detection under all weather conditions, the performance of which directly determines the design of the control algorithms. To guarantee the hitting accuracy and damaging effect of the expensive MMW guidance missile, assessing the performance of the seeker is indispensable before the launching of the missile. Real tactical environment of the seeker cannot be simulated comprehensively by indoor laboratories, and high-precision evaluation method outdoor is desperately needed. Focusing on the problem, a method for outdoor MMW seeker performance evaluation is proposed via the real-time kinematic (RTK) technology in this paper, which has the advantages of high-precision orientation and working ability under all climates. Firstly, the geometry of the seeker performance evaluation system is constructed, guaranteeing the effective working of the RTK. And then, the key parameters associated with the guidance control are calculated on the basis of the global position system (GPS) measurements. Finally, comparisons are made between the parameters obtained based on the RTK and the seeker outputs. Besides, for the performance assessment of the MMW seeker towards moving targets, a time synchronization method for different GPS carrier platforms is presented. The effectiveness of the proposed method is validated by the mooring test-fly experiments. Experimental results demonstrate that the performance of the MMW seeker can be evaluated effectively by using the proposed RTK-based method.

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“…It can work smoothly without the influence of barriers. The errors of the measurement are not accumulated [16][17][18].…”

Section: Principle Of the Rtk Technologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Achieving Millimetre Wave Seeker Performance Evaluation Based on the Real-Time Kinematic

Chen

Liu

et al. 2020

Journal of Sensors

View full text Add to dashboard Cite

show abstract

“…The application of precision agriculture practices helps save operational costs and reduce the environmental burden, resulting in increased and improved food production while optimising the whole agricultural process [ 1 ]. Today, agriculture is confronted with a number of requirements, the introduction of which cannot be done without a significant modification of the current concept of production.…”

Section: Introductionmentioning

confidence: 99%

“…Precise positioning can be assured by RTK methods that have already proved successful in a number of precise agriculture applications [ 1 ]. The possibility of measuring positions using the GNSS (Global Navigation Satellite System) laid the foundation for precise agricultural techniques.…”

Section: Introductionmentioning

confidence: 99%

Comparison of Four RTK Receivers Operating in the Static and Dynamic Modes Using Measurement Robotic Arm

Kadeřábek

Shapoval

Matějka

et al. 2021

Sensors

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While the existing research provides a wealth of information about the static properties of RTK receivers, less is known about their dynamic properties, although it is clear that the vast majority of field operations take place when the machine is moving. A new method using a MRA for the evaluation of RTK receivers in movement with a precise circular reference trajectory (r = 3 m) was proposed. This reference method was developed with the greatest possible emphasis on the positional, time and repeatable accuracy of ground truth. Four phases of the measurement scenario (static, acceleration, uniform movement and deceleration) were used in order to compare four different types of RTK receiver horizontal operation accuracy over three measurement days. The worst result of one of the receivers was measured at SSR = 13.767% in dynamic movement. Since the same “low-cost” receiver without an INS unit had SSR = 98.14% in previous static measurements, so it can be assumed that the motion had a very significant effect on the dynamic properties of this receiver. On the other hand, the best “high-end” receiver with an INS unit had SSR = 96.938% during the dynamic testing scenarios. The median values of the deviations were always better during uniform movements than during acceleration or braking. In general, the positioning accuracy was worse in the dynamic mode than in the static one for all the receivers. Error indicators (RMSerr and Me) were found several times higher in the dynamic mode than in the static one. These facts should be considered in the future development of modern agricultural machinery and technology.

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“…When large agricultural machines are steered automatically, it is crucial to determine their position and attitude with high accuracy and reliability. Pini et al [ 5 ] state that if the machine has poor positioning capabilities, it is unable to perform path-following. Typically, sub-decimetre accuracy is needed to steer agricultural machines [ 1 ], depending on the exact application.…”

Section: Introductionmentioning

confidence: 99%

Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles

Reitbauer

Schmied

2021

Sensors

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Nowadays, many precision farming applications rely on the use of GNSS-RTK. However, when it comes to autonomous agricultural vehicles, GNSS cannot be used as a stand-alone system for positioning. To ensure high availability and robustness of the positioning solution, GNSS-RTK must be fused with additional sensors. This paper presents a novel sensor fusion algorithm tailored to tracked agricultural vehicles. GNSS-RTK, an IMU and wheel speed sensors are fused in an error-state Kalman filter to estimate position and attitude of the vehicle. An odometry model for tracked vehicles is introduced which is used to propagate the filter state. By using both IMU and wheel speed sensors, specific motion characteristics of tracked vehicles such as slippage can be included in the dynamic model. The presented sensor fusion algorithm is tested at a composting site using a tracked compost turner. The sensor measurements are recorded using the Robot Operating System (ROS). To analyze the achievable accuracies for position and attitude of the vehicle, a precise reference trajectory is measured using two robotic total stations. The resulting trajectory of the error-state filter is then compared to the reference trajectory. To analyze how well the proposed error-state filter is suited to bridge GNSS outages, GNSS outages of 30 s are simulated in post-processing. During these outages, the vehicle’s state is propagated using the wheel speed sensors, IMU, and the dynamic model for tracked vehicles. The results show that after 30 s of GNSS outage, the estimated horizontal position of the vehicle still has a sub-decimetre accuracy.

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Experimental Testbed and Methodology for the Assessment of RTK GNSS Receivers Used in Precision Agriculture

Cited by 34 publications

References 14 publications

Achieving Millimetre Wave Seeker Performance Evaluation Based on the Real-Time Kinematic

Achieving Millimetre Wave Seeker Performance Evaluation Based on the Real-Time Kinematic

Comparison of Four RTK Receivers Operating in the Static and Dynamic Modes Using Measurement Robotic Arm

Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles

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