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

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Title: Utilization of Quasi-Zenith Satellite System for Navigation of a Robot Combine Harvester
Authors: Udompant, Kannapat Browse this author
Ospina, Ricardo Browse this author
Kim, Yong-Joo Browse this author
Noguchi, Noboru Browse this author →KAKEN DB
Keywords: combine harvester
global navigation satellite system (GNSS)
real-time kinematic (RTK)
Issue Date: Mar-2021
Publisher: MDPI
Journal Title: Agronomy-basel
Volume: 11
Issue: 3
Start Page: 483
Publisher DOI: 10.3390/agronomy11030483
Abstract: 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.
Type: article
Appears in Collections:農学院・農学研究院 (Graduate School of Agriculture / Faculty of Agriculture) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

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