2024-03-28T19:03:25Zhttps://eprints.lib.hokudai.ac.jp/dspace-oai/requestoai:eprints.lib.hokudai.ac.jp:2115/811732022-11-17T02:08:08Zhdl_2115_20046hdl_2115_138Utilization of Quasi-Zenith Satellite System for Navigation of a Robot Combine HarvesterUdompant, KannapatOspina, RicardoKim, Yong-Joo1000040228309Noguchi, Noborumetadata only accessCreative Commons Attribution 4.0 Internationalcombine harvesterglobal navigation satellite system (GNSS)real-time kinematic (RTK)CLASMADOCA610The 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.MDPI2021-03engjournal articleNAhttp://hdl.handle.net/2115/81173https://doi.org/10.3390/agronomy11030483Agronomy-basel113483