1. 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

2. 2 knshaikh@University Putra Malaysia Global Positioning System (GPS) Your location is: 101 o 42.323’ E 3 o 02.162’ N  24 Satellites  20,000 km Altitude  12 hour return  Anywhere (world)  Free, 24 hours Source: Trimble

3. 3 knshaikh@University Putra Malaysia GPS Errors Signal Blocked Multipath, Signal Obstruction (Buildings, Mountains, Foliage, etc ) Source: Trimble

4. 4 knshaikh@University Putra Malaysia 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)

5. 5 knshaikh@University Putra Malaysia INS (Errors) Accuracy degrades exponentially with time due to unbounded positioning errors Needed to be positioned again if lost

6. 6 knshaikh@University Putra Malaysia 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!

7. 7 knshaikh@University Putra Malaysia 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)

8. 8 knshaikh@University Putra Malaysia 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

9. 9 knshaikh@University Putra Malaysia 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 Why GPS Aided INS?

10. 10 knshaikh@University Putra Malaysia Why GPS Aided INS?

11. 11 knshaikh@University Putra Malaysia Study Area (Agriculture Park, UPM) Durian Orchard Palm Oil Plantation

12. 12 knshaikh@University Putra Malaysia 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

13. 13 knshaikh@University Putra Malaysia DEM Base Map

14. 14 knshaikh@University Putra Malaysia 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.

15. 15 knshaikh@University Putra Malaysia Contour Maps (Comparison) Contour Base (TS) GPS Only

16. 16 knshaikh@University Putra Malaysia GPS/INS KALMAN FILTER GPS IMU Corrected Output Position Velocity Attitude P V P V A GPS Antenna Optional RT DGPS GPS/INS Block Diagram

17. 17 knshaikh@University Putra Malaysia 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

18. 18 knshaikh@University Putra Malaysia 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.

19. 19 knshaikh@University Putra Malaysia THANKS FOR YOUR ATTENTION Your Comments and Suggestions are Welcome