GNSS Path Planning Using 3D Obstruction Maps
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing GNSS-based guidance systems in precision agriculture face accuracy issues due to obstructions like trees and terrain, leading to reduced performance and potential inoperability of auto-steer functionality, despite customers expecting improved accuracy.
Innovation Solution
A path planning system that generates three-dimensional obstruction maps and accuracy maps using satellite data and almanac information to determine optimal waylines for traversing a field, minimizing signal loss and improving positioning accuracy by reordering path traversal sequences based on anticipated accuracy changes over time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If GNSS-based guidance systems are used in areas with obstructions like trees and terrain, then coverage and area utilization are improved, but positioning accuracy deteriorates due to signal blockage
Solution Approach 1:
The system performs preliminary mapping of obstruction locations and characteristics before guidance operations. By pre-identifying areas with potential signal blockage and storing this information in a database, the system can plan alternative paths in advance that avoid obstruction-prone zones, thereby maintaining both coverage and accuracy.
Solution Approach 2:
The guidance system dynamically adjusts traversal paths based on real-time satellite visibility conditions and pre-stored obstruction data. When signal blockage is detected or anticipated, the system automatically recalculates and switches to alternative paths that maintain positioning accuracy while continuing field coverage.
2Device complexity
If traditional fixed path guidance is used, then system simplicity is maintained, but performance reliability deteriorates in obstruction-prone areas
Solution Approach 1:
The system pre-maps obstruction locations and stores them in a database before guidance operations begin. This preliminary action allows the system to anticipate signal blockage issues and plan reliable alternative paths without requiring complex real-time decision-making, thus maintaining system simplicity while improving reliability.
Solution Approach 2:
The guidance system automatically detects when it is approaching obstruction-prone areas using pre-stored map data and satellite tracking information, then self-adjusts the traversal path without operator intervention. This self-service capability ensures continuous reliable operation while keeping the system architecture relatively simple.
3Measurement precision
If path traversal is optimized based on anticipated accuracy changes, then positioning accuracy is improved, but processing complexity and computational requirements increase
Solution Approach 1:
Instead of optimizing the entire field path uniformly, the system applies different path planning strategies to different local zones based on their obstruction characteristics. High-accuracy zones with no obstructions use standard paths, while obstruction-prone zones use pre-planned alternative routes, reducing overall computational complexity while maintaining accuracy where needed.
Solution Approach 2:
The system pre-calculates multiple alternative paths through obstruction-prone areas and stores them in the database. During actual operations, the system simply selects from these pre-computed options based on current satellite conditions, avoiding the need for complex real-time optimization calculations while still achieving accuracy improvement.
Data Source
AI summary
In one embodiment, a method comprising, receiving a three-dimensional map of one or more obstructions associated with a field, the one or more obstructions presenting an obstacle to line of sight reception from a satellite to a global navigation satellite systems (GNSS) receiver; receiving almanac data corresponding to an orbit of the satellite; determining anticipated accuracy of positioning in the field at plural locations and plural times based on the almanac data and the map; and determining waylines for autonomous traversal through the field based on the anticipated accuracy at the plural locations and the plural times.