Tractor-based Real-time Kinematic-Global Positioning System (RTK-GPS) guidance system for geospatial mapping of row crop transplant

Abstract

An automatic, centimetre-level accuracy mapping system was developed and evaluated for precision real-time geospatial mapping of transplanted tomato plants. The system utilised a single Real-time Kinematic-Global Positioning System (RTK-GPS) system mounted on the tractor for Global Positioning System (GPS) location mapping of planting events occurring on the tractor-drawn transplanter. The mechanical hitch interface between the tractor and the transplanter was instrumented with orientation sensors to allow computation of the GPS crop plant location without the need for an independent RTK-GPS system located on the transplanter thereby reducing the equipment cost of the system. A ruggedised, real-time, embedded controller was used for sensor monitoring and logging of GPS location, planting events and transplanter odometry data. The system was capable of producing highly accurate maps of crop plant location for subsequent precision plant care tasks conducted at the centimetre scale. The benefit of the tractor-based RTK-GPS system for geospatial mapping of transplants such as tomato demonstrated in this work is that it enables farmers with existing RTK-GPS tractor-mounted auto guidance systems to better utilise their existing GPS technology by allowing them to automatically create centimetre-accuracy plant maps for subsequent precision plant specific treatment systems. Such systems could provide substantial savings in agro-chemicals with associated environmental and economic advantages for sustainable agricultural production systems.