Agricultural Machine Centimeter Positioning via Ionospheric Correction

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Solution Overview

Problem

Current agricultural machines lack precision and automation for revisiting planted parcels, particularly for fragile crops like corn or wheat, due to inadequate satellite positioning accuracy and time deviation, which can lead to damage during operations like hoeing or sowing.

Innovation Solution

An agricultural machine equipped with a precise satellite positioning module using the 'PPP with whole undifferentiated ambiguity resolution' algorithm, combined with a multifunctional tool actuation system, allows for accurate and automated revisiting operations by accounting for ionospheric disruptions and providing real-time position corrections, ensuring precise positioning to within a centimeter and avoiding plant damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If satellite positioning means of RTK type are used, then positioning capability is provided, but positioning precision is insufficient (only within ten centimeters)

Engineering Contradiction:

Improvepositioning precisionVSAvoidtool actuation precision

Core Design Contradiction:

Measurement precisionVSManufacturing precision

Solution Approach 1:

The patent introduces an intermediary calibration process that establishes a correspondence between satellite positioning coordinates and actual ground positions. By using a reference receiver with known position to calibrate the positioning system, the patent creates a transformation layer that converts imprecise satellite coordinates into accurate operational positions, resolving the contradiction between available positioning technology and required precision.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent changes the parameter of positioning accuracy through temporal calibration - performing calibration at the moment of planting and again during revisiting. This dynamic parameter adjustment compensates for drift and deviation over time, transforming the positioning system from statically imprecise to dynamically accurate.

Inventive Principle:

Principle #35Parameter changes

2Duration of action of stationary object

If satellite positioning means of RTK type are used, then positioning is provided, but time deviation occurs over several weeks or months

Engineering Contradiction:

Improvepositioning stability over timeVSAvoidpositioning accuracy

Core Design Contradiction:

Duration of action of stationary objectVSMeasurement precision

Solution Approach 1:

The patent performs preliminary calibration action at the time of planting to establish the initial correspondence between satellite coordinates and ground positions. This preliminary action creates a reference framework that can be reused during revisiting operations, eliminating the need for continuous recalibration and maintaining precision over extended time periods.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent implements feedback by comparing the calibrated position data with actual plant locations during revisiting. Any deviation detected through this feedback mechanism is corrected by adjusting the positioning parameters, ensuring long-term stability and accuracy despite temporal drift.

Inventive Principle:

Principle #23Feedback

3Measurement precision

If manual calibration of reference receiver is performed during revisiting, then positioning accuracy can be improved, but operation complexity increases and errors occur

Engineering Contradiction:

Improvepositioning accuracyVSAvoidcalibration operation simplicity

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent enables the system to perform self-calibration by automatically comparing satellite positioning data with the stored planting plan coordinates. The system independently identifies and corrects its own positioning errors without requiring manual intervention, thereby maintaining high precision while simplifying operation and reducing human error.

Inventive Principle:

Principle #25Self-service

4Extent of automation

If hoeing tool is actuated automatically using proximity sensor, then automation is achieved, but precision is insufficient for fragile plants

Engineering Contradiction:

Improvetool actuation automationVSAvoidtool positioning precision

Core Design Contradiction:

Extent of automationVSManufacturing precision

Solution Approach 1:

The patent replaces the mechanical proximity sensing system with a satellite-based positioning and computer-controlled actuation system. This substitution transitions from contact-based mechanical detection to remote electromagnetic positioning, enabling automated control with centimeter-level precision that is gentle enough for fragile plants while maintaining full automation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS11291152B2Agricultural machine and system for revisiting a planted plot, and related method

Publication Date: 2022.04.05 CENT NAT DETUD SPATIALES (CNES)

AI summary

This machine includes a tool (30) actuated by an actuating module (32); a dual-frequency satellite positioning module (40) able to take into account corrections relative to the disruptions affecting the propagation of radio navigation signals emitted by each of the visible radio navigation satellites and that are caused by the ionosphere, so as to determine an absolute position of the machine, and consequently of the tool, which is precise to within a centimeter; and a computer (50) able to compare the instantaneous absolute position of the tool and an absolute position of a current revisiting point, selected from among the revisiting points of a revisiting plan, the computer then being able to command the actuation module.