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首页> 外文期刊>Applied Engineering in Agriculture >COMPARISON OF POSITIONAL ACCURACY BETWEEN RTK AND RTX GNSS BASED ON THE AUTONOMOUS AGRICULTURAL VEHICLES UNDER FIELD CONDITIONS
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COMPARISON OF POSITIONAL ACCURACY BETWEEN RTK AND RTX GNSS BASED ON THE AUTONOMOUS AGRICULTURAL VEHICLES UNDER FIELD CONDITIONS

机译：田间条件下基于自主农业车辆的RTK与RTX GNSS位置精度的比较

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摘要

Currently, many systems (machine vision, high resolution remote sensing, global positioning systems, and odometry techniques) have been integrated into agricultural equipment to increase the efficiency, productivity, and safety of the individual in all field activities. This study focused upon assessing a satellite-based localization solution used in straight path guidance of an autonomous vehicle developed for agricultural applications. The autonomous agricultural vehicle was designed and constructed under RHEA (Robot fleets for highly effective agriculture and forestry management) project and is part of a three-unit fleet of similar vehicles. Static tests showed that 99% of all positions are placed within a circle with a 2.9 cm radius centered at the geo-position using real-time satellite corrections (RTX). Dynamic tests between rows demonstrated a mean (N=610) of the standard deviation for real-time base station corrections (RTK) of 1.43 cm and for real-time satellite corrections (RTX) of 2.55 cm. These results demonstrate that the tractor was able to track each straight line with high degree of accuracy. The integration of a Global Navigation Satellite System (GNSS) with sensors (e.g., inertial sensor, altimeters, odometers, etc.) within the vehicle showed the potential of autonomous tractors for expanding agricultural applications utilizing this technology
机译：当前，许多系统（机器视觉，高分辨率遥感，全球定位系统和里程计技术）已集成到农业设备中，以提高个人在所有野外活动中的效率，生产率和安全性。这项研究的重点是评估基于卫星的定位解决方案，该解决方案用于为农业应用开发的自动驾驶汽车的直线路径引导。该自动农用车是根据RHEA（高效农业和林业管理的机器人车队）项目设计和制造的，是三辆类似车队的一部分。静态测试显示，使用实时卫星校正（RTX），将所有位置的99％放置在以地理位置为中心，半径为2.9 cm的圆内。行之间的动态测试表明，实时基站校正（RTK）为1.43 cm，实时卫星校正（RTX）为2.55 cm，标准偏差的平均值（N = 610）。这些结果表明，拖拉机能够高精度地跟踪每条直线。车辆中集成了全球导航卫星系统（GNSS）和传感器（例如惯性传感器，高度计，里程表等）后，显示出自动拖拉机在利用该技术扩展农业应用方面的潜力

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