GPS Aided INS for Mobile Mapping in GPS Aided INS for Mobile Mapping in Precision AgriculturePrecision Agriculture

Khurram Niaz Shaikh

Supervised by:

Dr. Abdul Rashid bin Mohammad Shariff

Dept. of Biological & Agricultural Engineering

University Putra Malaysia

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Global Positioning System (GPS)

Your location is:101o 42.323’ E3o 02.162’ N

24 Satellites 20,000 km Altitude 12 hour return Anywhere (world) Free, 24 hours

Source: Trimble

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GPS Errors

Signal Blocked

Signal Blocked

Multipath, Signal Obstruction (Buildings, Mountains, Foliage, etc )

Source: Trimble

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Inertial Navigation System(INS)

Navigation is the art of knowing: Where you are (Position) How fast are you moving (Velocity) Which direction (Attitude)

INS Provides self-contained independent means for 3-D positioning

Real time indication of position and velocity of a moving vehicle using sensors that react on the basis of Newton’s laws of motion

Equipment used is called IMU (Inertial Measurement Unit)

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INS (Errors)

Accuracy degrades exponentially with time due to unbounded positioning errors

Needed to be positioned again if lost

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Precision Agriculture

An information based decision making agricultural system designed to improve the agricultural process

Offers the promise of increasing productivity while decreasing production cost

Positioning is the key component of PA,

Thanks to GPS

Ability to manage land by square meter instead of square mile!

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A significant problem can be caused in the data where satellite view is blocked by foliage, buildings and other features, locating position on the field inaccurate and unreliable, making PA impossible.

PA (Problem)

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A quick, accurate, reliable, complete and efficient mobile mapping system for site-specific farming (PA) through the integration of sophisticated hardware and software known as GPS Aided INS (GAINS)

PA (Solution)Research Hypothesis

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Complementary operational characteristicsINS accuracy decreases with distance, GPS supports by clear signal

Continuous reliable solutionSelf contained, No outages

Even when GPS is available, INS works to make position more accurate

Airborne LIDAR & RADAR are more expensive

Why GPS Aided INS?

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Why GPS Aided INS?

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Study Area (Agriculture Park, UPM)

Durian Orchard

Palm Oil Plantation

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To compare the conventional GPS only system and justify the need of an integrated system.

To build an integrated system using IMU (Inertial Measurement Unit) and GPS Receiver, according to the requirement of PA.

Research Objectives

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DEM Base Map

Tachymetry Total Station

OUTPUT

GPS Static Baseline

Traversing (Total Station)

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Contours

Road

Fence

Trees GPS $

Legend

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80 0 80 Meters

GPS is getting signal in between the trees, therefore, position of the trees can not be plot by GPS. Map can not be created accurately using GPS only method.

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412950 413000 413050 413100 413150

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Contour Maps (Comparison)

Contour Base (TS) GPS Only

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GPS/INS

KALMAN FILTER

GPS

IMU

Corrected

Output

Position

Velocity

Attitude

P V

P

VA

GPS Antenna

Optional RT DGPS

GPS/INS Block Diagram

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Farmers can use GAINS to determine their fertilizer and pesticide needs, improving crop yield, and preventing hazardous ground-water runoff.The system is especially useful for Tree plants like Durian, Coconut palm, etc. where GPS signal is blocked by the canopy.

Soil mapping Weed & Pest mapping Disease mapping Crop growth Rain fall Plant nutrients Harvest yield monitoring

GAINS’ Application in Precision Agriculture

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Conclusion

GPS only system is not an accurate method of creating DEM of tree plantation thus can not be utilized for Precision Agriculture practices. The problems of GPS signal loss gives rise to need of an autonomous mapping system and we find that GPS Aided INS is the solution of the specified problem.

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THANKS FOR YOUR ATTENTION

Your Comments and Suggestions are Welcome