GPS Aided INS for Mobile Mapping in Precision Agriculture

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GPS Aided INS for Mobile Mapping in Precision
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)

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

Your location is 101o 42.323 E 3o 02.162 N
Source Trimble
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GPS Errors
Multipath, Signal Obstruction (Buildings,
Mountains, Foliage, etc )
Signal Blocked
Signal Blocked
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 Newtons 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
Ability to manage land by square meter instead of
square mile!

• 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

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PA (Problem)

• 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.

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PA (Solution)
Research Hypothesis

• 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)

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Why GPS Aided INS?

• Complementary operational characteristics
• INS accuracy decreases with distance, GPS
  supports by clear signal
• Continuous reliable solution
• Self contained, No outages
• Even when GPS is available, INS works to make
  position more accurate
• Airborne LIDAR RADAR are more expensive

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Why GPS Aided INS?
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Study Area (Agriculture Park, UPM)
Palm Oil Plantation
Durian Orchard
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Research Objectives

• 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.

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DEM Base Map
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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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Contour Maps (Comparison)
Contour Base (TS)
GPS Only
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GPS/INS Block Diagram
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GAINS Application in Precision Agriculture

• 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

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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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