[논문]Utilization of Quasi-Zenith Satellite System for Navigation of a Robot Combine Harvester

Udompant, Kannapat; Ospina, Ricardo; Kim, Yong-Joo; Noguchi, Noboru

doi:10.3390/agronomy11030483

[해외논문] Utilization of Quasi-Zenith Satellite System for Navigation of a Robot Combine Harvester 원문보기

Agronomy, v.11 no.3, 2021년, pp.483 -

Udompant, Kannapat (Graduate School of Agriculture, Hokkaido University, Kita-9, Nishi-9, Kita-Ku, Sapporo, Hokkaido 060-8589, Japan) , Ospina, Ricardo (Research Faculty Agriculture, Hokkaido University, Kita-9, Nishi-9, Kita-Ku, Sapporo, Hokkaido 060-8589, Japan) , Kim, Yong-Joo (Department of Biosystems Machinery Engineering, College of Agriculture and Life Science, Chungman National University, 200 Gung-Dong, Yusung-Gu, Daejeon 305-764, Korea) , Noguchi, Noboru (Research Faculty Agriculture, Hokkaido University, Kita-9, Nishi-9, Kita-Ku, Sapporo, Hokkaido 060-8589, Japan)

Abstract ▼ AI-Helper

The purpose of this study is to evaluate the performance of a robot combine harvester by comparing the Centimeter Level Augmentation Service (CLAS) and the Multi-Global Navigation Satellite System (GNSS) Advanced Demonstration tool for Orbit and Clock Analysis (MADOCA) from the Quasi-Zenith Satellite System (QZSS) by using the Real Time Kinematic (RTK) positioning technique as a reference. The first section of this study evaluates the availability and the precision under static conditions by measuring the activation time, the reconnection time, and obtaining a Twice Distance Root Mean Square (2DRMS) of 0.04 m and 0.10 m, a Circular Error Probability (CEP) of 0.03 m and 0.08 m, and a Root Mean Square Error (RMSE) of 0.57 m and 0.54 m for the CLAS and MADOCA, respectively. The second section evaluates the accuracy under dynamic conditions by using a GNSS navigation-based combine harvester running in an experimental field. The results show that the RMSE of the lateral deviation is between 0.04 m and 0.69 m for MADOCA and between 0.03 m and 0.31 m for CLAS; which suggest that the CLAS positioning augmentation system can be utilized for the robot combine harvester if the user considers these accuracy and dynamic characteristics.

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