The Development of Autonomous Rice Transplanter (Part 1)

The Location of the Rice Transplanter by a Real-Time Kinematic GPS

Abstract

The objective of this study is to develop an autonomous operating system in paddy field. In this paper, the position of the rice transplanter is located by real-time kinematic GPS (RTKGPS). The yaw angle is measured by a fiber optic gyro (FOG) sensor and the roll and the pitch angle are measured by posture measuring apparatus consists of three FOGS. The inclination of the rice transplanter influences the RTKGPS position data and it includes time delay. They were corrected by measuring the roll, the pitch and the yaw angle. When the ricetransplanter was driven automatically along the desired straight path, the error from the desired straight path was less than 10cm.