Development of GPS-based Tracking System to Evaluate the Effectiveness of Tillage using Four-wheel Tractor

Abstract

The objective of this study was to present the development of GPS-based tracking system to evaluate the effectiveness of tillage using a four-wheel tractor. The system is composed of a location acquisition, using GPS (iGPSport), and data analysis for estimating the tractor trajectories and effectiveness of tillage by measuring the overlap during the tillage. The laboratory stage experiment was conducted to validate the system by measuring the specified size of the field and tractor trajectories. The performance evaluation of the system was done by measuring the displacement error of actual trajectories and the estimated one. The system was also tested for the actual tillage operation using a four-wheel tractor, Daedong Kioti RX7210, in two locations in Yogyakarta: Pajangan, and Moyudan. The tractor tracking system was developed based on GPS for estimating the tractor trajectory path and operation width distance (l) after the operation as tillage effectiveness evaluation by the evaluation of overlap and untillage land systematically using the tracking system. The system performance evaluation in the actual field for tillage operation using the four-wheel tractor in Moyudan and Pajangan shows that the RMSE < 50 cm, and the MAPE < 24% with R2 > 0.7. Overall performance of the tracking system, it could be used to estimate the behavior of tillage operation.