Abstract
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.
Highlights
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]
The evaluation of four RTK receivers in this work was divided into the following subunits: the ability of the system to solve the problem of carrier phase ambiguities (SSR) (1), positioning the deviations of and their error indicators for the whole measurement period (2), positioning the deviations of and their error indicators for the period “FIX” (3), error indicators of the static measurements (4), recovery time of the “FIX” state after its loss (5), the linear dependence between the obtained series (6), the comparison of the positioning deviations according to the current state of the system (7) and the comparison of the positioning deviations according to the scenario phase (8)
The calculated SSR indicator was given, representing the ability of the RTK receiver to solve the ambiguity of the phase of the carrier wave during the entire measurement period
Summary
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]. Most precision agriculture operations refer to the operation, guidance and control of machines to carry out agricultural tasks. As described by the authors of reference [3], the benefits include the reduction of driver fatigue (guidance system reduces the effort required to maintain the correct machine route); increased productivity (allowing higher operating speed, faster headland turns and cost savings); cost reduction (there is a significant reduction in overlaps and omissions); reduced environmental impact; efficient overnight work; higher safety; better quality (the driver can focus on quality control) and improved ergonomics (reduction of stress of machine operators). Autonomous navigation is dangerous for machine integrity and, more importantly, for workers
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