Development and study of domestic hardware and software complex for precision control systems of mobile agricultural units

Abstract

Improving crop production efficiency is directly related to the implementation of resource-saving technologies, among which parallel (high-precision) guidance systems occupy a key position. The existing market is saturated with expensive imported solutions which creates financial barriers for most agricultural producers and determines the strategic need for import substitution in this segment. This paper discusses the findings of long-term research on the development, modeling, and comprehensive testing of a competitive domestic hardware and software system (HSS) for automatic course control systems of machine-tractor units (MTU). The system was designed with an emphasis on the use of readily available components and modern methods of digital processing of navigation signals. During the research, a detailed mathematical model of MTU dynamics was developed taking into account its kinematic and force parameters as well as the effect of spatial tilt on positioning accuracy. An adaptive algorithm based on the Kalman filter is proposed and implemented to correct satellite measurement errors. The complex’s hardware platform is built on a modular principle and includes a multi-frequency satellite receiver, a microcontroller data processing unit, an electromechanical steering actuator, and a tablet device with a graphical user interface. The experimental studies included bench tests, computer simulation, and large-scale production trials in the fields of the Republic of Bashkortostan using various types of tractors and self-propelled chassis. The obtained results confirmed the high operational efficiency of the development: steering accuracy was ±10 cm which resulted in a 15-25% reduction in the area of technological passes and overlaps, and savings of up to 20% on mineral fertilizers per unit area, and a 13-20% increase in unit productivity. The system is capable of 24-hour operation increasing nighttime output 1.5-1.8 times. The cost of the developed hardware and software system is at least five times lower than that of imported analogues while providing a comparable technological effect. The practical significance of this work lies in providing the Russian agro-industrial complex with a fully localized, adaptable, and affordable solution for automating routine field operations which aligns with the goals of the state agriculture development program.