A high-precision agricultural positioning system

Abstract

This invention discloses a high-precision agricultural positioning system, relating to the field of agricultural positioning system technology. It includes an agricultural positioning device, a GNSS subsystem, an information acquisition subsystem, an attribute data management subsystem, a GIS subsystem, and a system management subsystem. The agricultural positioning device establishes a three-dimensional spatial coordinate system based on frame images, transmits image and coordinate information via network to the information acquisition subsystem, and simultaneously stores it in the attribute data management subsystem. The information acquisition subsystem preprocesses the images and coordinate information collected from the agricultural positioning device. The GIS subsystem is connected to the attribute data management subsystem. The GIS subsystem reads coordinate information from the attribute data management subsystem, converts it into GIS format, and finally displays the data information. This invention enables statistical analysis of the obtained farmland-related information, decision support, and the acquisition of precise operational plans, further improving tracking accuracy.

Description

Technical Field

[0001] This invention belongs to the field of agricultural positioning system technology, and specifically relates to a high-precision agricultural positioning system. Background Technology

[0002] Minister Xu Guanhua of the Ministry of Science and Technology, when discussing the development of "Digital Earth," stated that "precision agriculture" is one of the entry points for China's "Digital Earth" development strategy. Precision agriculture has been included in the national S863 program, and the State Planning Commission and the Beijing Municipal Government have jointly funded the establishment of precision agriculture demonstration zones in Beijing. The Chinese Academy of Sciences has also included precision agriculture in its Knowledge Innovation Program, conducting research on modern agricultural technologies aimed at "precision agriculture." A farmland spatial information system has been developed, utilizing the basic functions of GIS to assist in farmland management decision-making.

[0003] High-precision positioning and navigation technology plays a core role in agricultural intelligence. Agricultural intelligence needs to be built on the basis of automation, and the first step in agricultural automation is to give agricultural production tools the ability to drive automatically. These agricultural production tools include, but are not limited to, medium and large-sized agricultural machinery, agricultural unmanned vehicles, and agricultural drones. Their autonomous driving functions are similar to those of automobiles, requiring environmental perception and positioning and navigation. However, considering the characteristics of farmland environment, such as many obstructions, abundant vegetation, and little interference, the automated operation of agricultural machinery and drones mainly relies on positioning and navigation rather than perception and recognition.

[0004] Existing agricultural equipment has relatively high tracking accuracy. This invention, based on high-precision positioning and navigation technology, constructs a high-precision farmland map, which is an important foundation for grain subsidy distribution, land title confirmation, assisted / unmanned agricultural machinery operation, high-precision IoT terminal data collection, financial insurance assessment, etc., and helps smart agriculture achieve efficient production. Summary of the Invention

[0005] To address the shortcomings and problems of existing agricultural equipment with relatively low tracking accuracy, this invention provides a high-precision agricultural positioning system.

[0006] The solution adopted by this invention to solve its technical problem is: a high-precision agricultural positioning system, including an agricultural positioning device, a GNSS subsystem, an information acquisition subsystem, an attribute data management subsystem, a GIS subsystem, and a system management subsystem; the agricultural positioning device terminal integrates a GNSS positioning chip for real-time acquisition of agricultural machinery location information, on-site photos, and on-site depth information, and establishes a three-dimensional spatial coordinate system based on frame images, transmitting image information and coordinate information to the information acquisition subsystem via network, and simultaneously storing it in the attribute data management subsystem; the information acquisition subsystem is used to preprocess the images and coordinate information collected from the agricultural positioning device; the GIS subsystem is connected to the attribute data management subsystem; the GIS subsystem reads coordinate information from the attribute data management subsystem, converts it into GIS format, and finally displays the data information through the GIS subsystem; the system management subsystem is connected to the agricultural positioning device and is used for system backup, system recovery, system permission management, system logs, and system assistant.

[0007] The high-precision agricultural positioning system provided by this invention includes a telemetry sensor module, a Beidou module, and a microcomputer module installed on the agricultural positioning equipment. While the agricultural positioning equipment is operating in the field, the telemetry sensor sends data to the server, and the Beidou module provides precise positioning. The microcomputer module retrieves parameters stored in the geographic information system related to the location, spatial complexity, and required farming measures of the plot, runs a rapid diagnostic decision model, and outputs farming measures.

[0008] The high-precision agricultural positioning system provided by this invention uses the BeiDou module as its core. It establishes a farm location information service system around high-precision agricultural positioning equipment, including a farm information monitoring center, a farm GIS information collection terminal, a farm variable information collection terminal, a farm machinery navigation and automation system, and a farm machinery monitoring system.

[0009] The high-precision agricultural positioning system provided by this invention includes an attribute data management subsystem that performs data input, data editing, data querying, statistical analysis, and data output on data already entered into the database.

[0010] The high-precision agricultural positioning system provided by this invention includes data input via keyboard input and data file input; data editing includes modifying data, adding or deleting fields and records; data query includes conditional query and unconditional query; and data output includes document output and chart output.

[0011] The high-precision agricultural positioning system provided by the present invention includes an agricultural machinery positioning and attitude acquisition system in the GNSS subsystem, and the system as a whole includes an RTK-BDS master base station and GNSS board slave base stations.

[0012] The high-precision agricultural positioning system provided by this invention includes a GIS subsystem for performing operations such as layer management, bidirectional query and retrieval of graphics and attributes, statistical calculation, spatial analysis, and map output. The GIS subsystem also includes a chart data display model, which generates and operates parameters, inputs and describes variables, constructs output modes, and displays results for the image data display model.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] This invention provides a high-precision agricultural positioning system that integrates modern satellite positioning, computer networks, and digital communication technologies across multiple fields to establish a GIS and GNSS-based precision agricultural management decision support system. This system provides intelligent and intuitive information services to agricultural producers, managers, and researchers. Users can obtain farmland-related information and statistical analysis through the system, receive decision support, obtain precise operational plans, and achieve better economic and environmental benefits. By establishing a permanent reference station system, this invention ensures the stability of continuous system operation and provides rapid and reliable information services to various sectors of the farm, such as engineering construction, agricultural machinery navigation, traffic monitoring, and even environmental protection and disaster relief, meeting the location information needs of various industries. Attached Figure Description

[0015] Figure 1 This is a system overall connection diagram of the present invention;

[0016] Figure 2 This is a hardware structure diagram of the GIS subsystem of the present invention. Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Please see Figure 1-2 This invention provides a technical solution for a high-precision agricultural positioning system: providing intelligent and intuitive information services for agricultural producers, managers and scientific and technical personnel. Users can obtain farmland-related information and statistical analysis through the system; at the same time, it can provide decision support based on location, geographical environment and other factors to obtain precise operation plans. Example

[0019] This embodiment provides a high-precision agricultural positioning system, including a high-precision agricultural positioning device, a GNSS subsystem, an information acquisition subsystem, an attribute data management subsystem, a farmland GIS subsystem, and a system management subsystem. The high-precision agricultural positioning device terminal integrates a GNSS positioning chip (GNSS refers to the Global Navigation Satellite System, a space radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, velocity, and time information at any location on the Earth's surface or near-Earth space). This chip is used to acquire agricultural machinery location information in real time, supports blind zone retransmission, and adopts a modular combination structure, consisting of an agricultural machinery terminal, network antenna, positioning antenna, attitude sensor, depth sensor, display, high-definition camera equipment, and wireless implement identifier. It can acquire agricultural machinery location information, work site photos, and work depth information in real time, and realize the transmission of work data information.

[0020] The high-precision agricultural positioning equipment is also equipped with a telemetry sensor module, a Beidou module, and a microcomputer module. While the agricultural positioning equipment is operating in the field, the telemetry sensor sends data to the server, and the Beidou module provides accurate positioning. The Beidou module is based on the Beidou ground-based augmentation system and, around the high-precision agricultural positioning equipment, establishes a series of farm location information service systems, including a farm information monitoring center, a farm GIS information collection terminal, a farm variable information collection terminal, a farm machinery navigation and automation system, and a farm machinery monitoring system. The microcomputer module retrieves relevant parameters stored in the geographic information system, such as the address location, spatial complexity, and required cultivation measures of the plot, and runs a rapid diagnostic decision model to provide cultivation measures, thereby automating the entire process.

[0021] High-precision agricultural positioning equipment constructs a three-dimensional spatial coordinate system based on frame images, and then transmits the collected image data and coordinate data to the information acquisition subsystem via a network; and stores it in the attribute data management subsystem. The information acquisition subsystem and the attribute data management subsystem are connected to the high-precision agricultural positioning equipment. The information acquisition subsystem is used to perform data input, data preprocessing, data storage, and interface program transmission with the sensor for the image and coordinate information collected by the agricultural positioning equipment. The attribute data management subsystem mainly performs data input, data editing, data querying, statistical analysis, and data output for the data already in the database. Specifically, data input includes keyboard input and data file input; data editing includes modifying data, adding and deleting fields and records; data querying includes conditional querying and unconditional querying; and data output includes document output and chart output.

[0022] Centered on the attribute data management subsystem, each subsystem exchanges data and transmits parameters by accessing the attribute data management subsystem, thereby achieving seamless connection between the subsystems. Among them, the GNSS subsystem reads coordinate information from the attribute data management subsystem, calculates and converts it into GIS format, and finally displays the relevant information of the data through the GIS subsystem.

[0023] The GNSS subsystem includes an agricultural machinery positioning and attitude acquisition system. The system as a whole includes (1) an RTK-BDS master base station and (2) a GNSS board slave base station. The master base station includes an RTK base station and a wireless data transmission radio, and the slave base station includes a GNSS slave base station, a wireless data transmission radio, and an ARM processor. The RTK-BDS base station transmits the received satellite positioning information to the dual-antenna GNSS board in the TRIMTALK450S differential data protocol format via the wireless data transmission radio. The dual-antenna GNSS board parses the differential data, obtains the coordinate information of the master and slave antennas, and calculates the attitude information of the two axes based on this coordinate information. The ARM processor unpacks the positioning and attitude information, calculates the navigation projection point coordinate information in the navigation coordinate system, and outputs the attitude and projection point coordinate information through the CAN bus. In this paper, the dual antennas are installed perpendicular to the front of the vehicle, and the two-axis attitude information output by the dual-antenna GNSS board is the heading and roll attitude information.

[0024] The GIS subsystem can perform operations such as layer management, bidirectional query and retrieval of graphics and attributes, statistical calculations, spatial analysis (such as image cross-combination), and cartographic output. Furthermore, the GIS subsystem includes a chart data display model, which generates and operates parameters for the image data display model, inputs and describes variables, constructs output modes, and displays results. This invention comprehensively integrates modern satellite positioning, computer networks, and digital communication technologies across multiple dimensions and fields. By establishing a precision agricultural management decision support system based on GIS and GNSS, it can provide intelligent and intuitive information services for agricultural producers, managers, and scientific and technical personnel. Users can obtain farmland-related information and statistical analysis through this system; simultaneously, it can provide decision support based on location and geographical environment to obtain precise operational plans.

[0025] Furthermore, agricultural positioning equipment, as the foundation of the entire system, serves as the basic data provider for the farm's integrated location service system. After construction, the system must maintain continuous operation; therefore, ensuring system stability is crucial. This led to the establishment of a Permanent Reference Station System (CORS). A CORS system involves establishing several interconnected reference stations within a specific area, linked by a network to construct a new generation of networked GNSS integrated service system. This system not only provides high-precision, continuous spatial benchmarks to surveying users at all levels but also offers various data services to departments involved in navigation, timekeeping, and disaster prevention. This CORS system is a product of the comprehensive and in-depth integration of advanced technologies such as satellite positioning, computer network technology, and digital communication. The establishment of the CORS system provides rapid and reliable information services to various sectors of the farm, including engineering construction, agricultural machinery navigation, traffic monitoring, and even environmental protection and disaster relief, meeting the location information needs of each industry.

[0026] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-precision agricultural positioning system, characterized in that: It includes agricultural positioning equipment, a GNSS subsystem, an information acquisition subsystem, an attribute data management subsystem, a GIS subsystem, and a system management subsystem; The agricultural positioning equipment terminal integrates a GNSS positioning chip, a high-definition camera, and a depth sensor to acquire real-time information on the location of agricultural machinery, photos of the work site, and information on the working depth. Based on the continuous frame images acquired by the high-definition camera, pixel-level registration is performed in conjunction with the coordinate data acquired in real time by the GNSS subsystem to construct a three-dimensional spatial coordinate system that includes the working depth dimension. The working depth is calculated by associating the pixel grayscale values ​​of the depth sensor with the frame images. The image information and coordinate information are transmitted over the network to the information acquisition subsystem and then stored in the attribute data management subsystem. The information acquisition subsystem is used to preprocess the images and coordinate information collected from the agricultural positioning device. The preprocessing includes compressing the images to retain key pixels, registering the coordinate data with the images, and filtering valid frame images and associated coordinates. The GIS subsystem is connected to the attribute data management subsystem; the GIS subsystem reads coordinate information from the attribute data management subsystem, converts it into GIS format, and finally displays the data information through the GIS subsystem. The system management subsystem is connected to the agricultural positioning device and is used for system backup, system recovery, system access management, system logs and system assistant. System backup includes real-time backup of positioning data when the agricultural positioning device fails. System access management sets three levels of data access permissions for farm machinery operators, cooperatives and management departments. The Beidou module is based on the Beidou ground-based augmentation system and revolves around high-precision agricultural positioning equipment. It establishes a farm location information service system, which includes a farm information monitoring center, a farm GIS information collection terminal, a farm variable information collection terminal, a farm agricultural machinery navigation and automation system, and a farm agricultural machinery monitoring system. This service system enables the real-time flow of positioning data, variable operation data, and navigation commands. The system also establishes a permanent reference station system, which synchronizes the reference station coordinate calibration data with the attribute data management subsystem in real time, and links with the farm information monitoring center to automatically send dispatch instructions to the agricultural machinery navigation system when the regional agricultural secretion is too high. The agricultural positioning equipment is equipped with a telemetry sensor module, a Beidou module, and a microcomputer module. While operating in the field, the telemetry sensor sends data to the server, and the Beidou module provides precise positioning. The microcomputer module retrieves the address location, spatial complexity, and required tillage parameters of the plot stored in the geographic information system beforehand, and runs a rapid diagnostic decision model. The rapid diagnostic decision model has a built-in farmland soil type-tillage parameter mapping library, which can call regional soil data according to the plot address location and dynamically adjust the output threshold of tillage measures to output tillage measures.

2. The high-precision agricultural positioning system according to claim 1, characterized in that: The attribute data management subsystem is responsible for data input, editing, querying, statistical analysis, and output of data already in the database. Data input supports the automatic import of soil sensor data.

3. The high-precision agricultural positioning system according to claim 2, characterized in that: The data input includes keyboard input and data file input; data editing includes modifying data, adding and deleting fields and records; data querying includes conditional querying and unconditional querying; data output includes document output and chart output, and the chart output includes a correlation chart of farming parameters and operation effects.

4. The high-precision agricultural positioning system according to claim 1, characterized in that: The GNSS subsystem includes an agricultural machinery positioning and attitude acquisition system, and the system as a whole includes an RTK-BDS master base station and GNSS board slave base stations.

5. The high-precision agricultural positioning system according to claim 1, characterized in that: The GIS subsystem is used to perform operations such as layer management, bidirectional query and retrieval of graphics and attributes, statistical calculation, spatial analysis, and cartographic output. The GIS subsystem also includes a chart data display model, which generates and operates parameters, inputs and describes variables, constructs output modes, and displays results for the image data display model.

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