In precision farming the replacement of the use of herbicides for weed control in the intra-row areas is one sphere of research. One project is the DFG-project Position steered seed deposition for the generation of longitudinal and lateral rows in sugar beet cultivation. The aim is to enable longitudinal and lateral drives of a tractor with a conventional mechanical hoe. For that a rectangular seed formation must be generated (spacing in a row and between the rows: for example 30 cm). To guarantee a high rate of weeding and at the same time an economic acceptable rate of plant loss by damage, violence and spillage, a standard deviation of 2 cm (plant position in the formation, plant space) is required. Due to biological variations and roll-effects in the narrow, the standard deviation of the seed deposition position is determined by 1 cm. Since no single sensor can guarantee that accuracy over the whole time of seeding and the whole area, a multi sensor system must be used. That consists of a RTK-GPS-receiver, a velocity sensor and a yaw rate sensor. For the estimation of position and velocity (basis of the steering information for a precision seeder) a Kalman filter is used, thus additionally to the observations the inertia of the machine can be considered for a smoother estimation of position and velocity. In contrast to the longitudinal drive (constant velocity), the turnaround-manoeuvres consist of more complex structures of movement (changing driving direction, acceleration, braking). For this reason, the determination of the machine inertia is more difficult. Therefore the main focus of the article is on the kinematics of the turnaround.
A multi-sensor system in precision farming for position steered seed of sugar beet - an approach to the turnaround
2010
9 Seiten, 11 Bilder, 12 Quellen
Conference paper
English
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