Pir Mehr Ali Shah

ARID AGRICULTURE UNIVERSITY RAWALPINDI

Synopsis for MS Degree in Agricultural Engineering

Title: PERFORMANCE EVELUATION OF AUTO STEERING SYSTEM

FOR PRECISION SOWING TO INCREASE CROP
PRODUCTIVITY

Name of the Student: Hafiz Muhammad Shahab ud din

Registration Number: 17-arid-2598
Date of Admission: 11th October 2021
Date of Initiation: 11nd October, 2022
Probable Duration: One year

SUPERVISORY COMMITTEE

i) Supervisor _______________
Dr.Tahir Iqbal

ii) Member________________
Dr. Shoaib Rashid Saleem

iii) Member ________________

Dr. Muhammad Hanif

Director,
Faculty of Agricultural Engineering and Technology

Director,
Advanced Studies
 Pir Mehr Ali Shah

ARID AGRICULTURE UNIVERSITY RAWALPINDI

Synopsis for MS Degree in Agricultural Engineering

Title: PERFORMANCE EVELUATION OF AUTO STEERING SYSTEM

FOR PRECISION SOWING TO INCREASE CROP
PRODUCTIVITY

Name of the Student: Hafiz Muhammad Shahab ud din

Registration Number: 17-arid-2598
Date of Admission: 11th October 2021
Date of Initiation: 11nd October 2022
Probable Duration: One year

SCRUTINY COMMITTEE

i) Convener ________________
Engr.Dr.Muhammad Umair

ii) Member ________________

Engr.Dr.Zia-Ul-Haq

ii) Member ________________

Engr.Dr.Muhammad Usman

Chairperson,
Please Select Department or Institute

Director,
Advanced Studies
 ABSTRACT

Precision agriculture is an integrated farm system that is designed to

increase long-term farm production efficiency, productivity and profitability, which

is, used smart technologies, sensors, and satellite based data. This study aimed to

compare the pass-to-pass overlaps and spacings in adjacent parallel passes in

sowing with and without tractor automatic steering (AS), and compare the light

intensity and air circulation after the plant germination. The system utilized a Real-

time Kinematic-Global Positioning System (RTK-GPS) system mounted on the

tractor for Global Positioning System (GPS) location mapping of seeding occurring

on the tractor-drawn implement. Three different Application of activities

(traditional Method, Seed drill, GNSS auto steering) will Apply on three different

plots at KOONT research farm Chakwal. These technologies used on three

different Practices for on wheat crop to assess the Crop yield. As we know Pakistan

population is increasing on Daily ratio which is a major call for food Security .The

data were obtained from university-researched fields (wheat) to assess the

performance of AS systems in real farmer conditions. Auto steering system was

installed by the faculty project (DDSDP) and mounted on a Massey Ferguson (MF-

375 2WD) tractor with intentional accuracy of ±2.5 centimeters. The steering

system on a predefined path, the vehicle should be initially steered manually on the

first path. Appropriate use of auto steering systems to reduce overlap and gaps

between consecutive rows and uniformly seed rate resulting in lower application

time, lower fuel and labor consumption. .

Keywords: Auto steering (AS); Digital agriculture (DA); Global positioning

system (GPS);
 INTRODUCTION
The agriculture industry saw a tremendous increase of 4.40 percent between 2021

and 2022, exceeding both the goal of 3.5 percent and the growth of 3.48 percent in

the previous year. While wheat production decreased from 27.5 million tonnes to

26.4 million tonnes, rice production increased from 8.4 million tonnes to 9.3

million tonnes, sugarcane production increased from 81.0 million tonnes to 88.7

million tonnes, and maize production increased from 8.9 million tonnes to 10.6

million tonnes during 2021–22 (GOP 2021-22). The alarming population growth

rate in Pakistan is effecting the food security (Mahmood et al., 2020). The use of

maize crops in feed and wet milling industry is increasing day by day. Wheat crop

with maximum potential of photosynthesis that is the most important cereal crop in

Pakistan wheat and rice. About 2,850 kg/ha is the average productivity of maize in

Pakistan (Tariq and Iqbal 2010). Therefore, it is very important to look at the

potential of Pakistan competitiveness in international market to increase the export

and potential of maize crop.

Mostly mechanical broadcasting is using as sowing of maize crops in Pakistan

(Lawrence 1983). Broadcasting or traditional seeding is a method in which seed is

scattered by using hand over a large required area.it is very faster, easier technique

than traditional row sowing. The plants that do not require singular spacing have

more advantages of using broadcasting seeding. However, seeds sown in this

method un-uniformly and not sure about the depth the depth at which seed grown

in field, big disadvantage of using this technique is that crops may face shortage of

nutrients from sun (photosynthesis process).

Seed drill is an also method for sowing of seed which has ability to sow seed with

specific depth and uniform distribution. However, user cannot adjust distance

between seed along the rows. Seed drill allows plant or crops to get nutrients from

sunlight and water from soil which is major reason that improves crop yield

(Gebresenbet 1992).it also saves time and labor use of seed drill can increase the

seed germination and crop yield up to nine times then broadcasting method. Before

seed drill operation, ground must be plowed and harrowed.

There are two primary categories of automatic guidance in agriculture one is

manual starring (light bar) and auto steer. For the purpose of study, we will focus

on auto steer. For precisely and accurately determining the position of receiver,

Global Navigation Satellite Signal (GNSS) is used. Auto steer system can mounted

onto the steering columns or tractor’s hydraulic system (Zaman and Percival 2008).

GNSS automated guidance system shows profitable growers in variety of cropping

system.

The research will be conducted as part of large work progressing towards full

maize crops harvester automation. For this purpose three different (GNSS

automation, Seed drill, broadcasting method) practices will be applied on maize

crop sited at KOONT farm Chakwal. Due to the obstructions introduced by slow

harvesting speeds, small working width and side mounted implement the

comparison of these practices especially GNSS is never done before. Success of

this research would represents both short -term benefit for harvester operation and

steps through ultimate goal of full automation of the maize crops harvester
Problem Statement

In operator driven method, straight line cropping pattern (accuracy) could be

disturbed and the movement of air circulation and light intensity can be effected,

that is essential for the plant growth and crop yield. Generally, Pakistani farmers

adopt traditional application methods for sowing, fertilization and harvesting in

their fields. However, traditional activities of fertilizers can reduce the profitability

of the farmers and can negatively affect in situ soil and yield of crops. Therefore,

comprehensive investigations are required to assess the advantages of precision

agriculture specially GNSS auto steering application over the traditional and seed

drill method without compromising crop yield and expenditure. Auto steering

systems can reduce overlapping, operating costs, and improve profitability of

cropping systems by overcomes the problems of operator driven methods.

Objectives:

This research is based on their different objectives;

 Comparison of seed rates on field basis between operator driven and auto steer,

and their impact on crop yield.

 Evaluation of the overlapping and gaps between consecutive rows by operator

driven and auto steering system.

 Effects of light intensity and air circulation on crop physical parameters and

yield using auto steering system as compared to operator driven tractor.

Outcomes:

The auto steering tractor will facilitate farmers to deliver exact amount of

seed rate per unit area, reduce fuel and inputs cost, minimize the overlapping of
consecutive rows, and fertilizer and pesticide application which could result in high

crop productivity. It can also improve light penetration and air circulation in crop

that could result in better crop productivity. We will be able to differentiate the

application of three different activates (manual broadcasting, seed drill, GNSS auto

steering) related to crop yield and which method is economical for the sowing,

fertilization, harvesting of crops.

REVIEW OF LITERATURE

A combination of mapping and spreadsheet software was utilized to develop the

approach. The recorded tractor passes along with latitude and longitude coordinates

of World Geographical System (WGS) 1984 were converted into (UTM) in XY-

plane of Cartesian coordinate by using mapping software during the field

experiment, we did not use real-time kinematic (RTK) to increase GPS accuracy

but instead relied entirely on the embedded DGPS on the tractor system. AS

moves, line that runs from the initial point A to the final point B was drawn as a

guide or known as the AB line. In addition to the field's references, the AB line

served as a control guideline for operation as well. The of AB line and autopilot

trajectory in the experimental area. The purpose of this study is to introduce a new,

straightforward method for assessing an autopilot tractor's straight-line accuracy in

an oil palm field. The current recommended approach was developed using

Microsoft Excel software and ArcGIS version 10.3 (Azmi, Mohammad, and

Pebrian 2022) . The main conclusion was of the conducted study was that auto

steer tractors move precisely in straight lines while moving across the farm field.
Auto steering system was used for sensor monitoring and logging of GPS location,

planting events and also producing highly accurate maps of tomato crops he most

precise GNSS (Global Navigation Satellite System) application solution is systems

(2 cm accuracy). In this study, an RTK-GPS auto guidance system (AgGPS

Autopilot, Trimble Navigation Ltd., Sunnyvale, CA, USA) was used to pilot the

tractor (John Deere model 6430 with category 2, 3-point hitch) for all field trials

and seedbed preparation operations. An RTK system requires two receivers, a radio

link, and embedded navigation controller that integrates rover sensors and GPS

data to compute the final position of the rover receiver. Utilizing the real-time GPS

coordinates from the tractor-mounted RTK-GPS auto guidance system, transplanter

odometry, and the relative position and orientation of the transplanter relative to the

tractor during planting, it is possible to create geospatial transplant maps that

contain the true geoposition of each transplant. (Perez-Ruiz et al. 2012). Their

results suggested that auto steering saves agro-chemicals along with associated

environmental and economic advantages.

Auto steer system was made-up and installed on a MF285 tractor with intentional

accuracy of ± 2.5 centimeters. Off-road vehicles and agricultural machinery have

been subject to extensive research on accurate and automated steering, but these

studies have generally not been well received or adopted due to costs and

technological constraints. This study devised, built, and tested an interchangeable

system that can be put on most agricultural tractors and other off-road, self-

propelled machines. It has a reasonable cost and only moderate technological

requirements. The system was made up of an electro-mechanical steering wheel

driver, a cable-spreading device with a thin steel cable, a fifth wheel (or ground

wheel) with several cable-positioning sensors, a control unit, and processor. The

tractor should be manually guided on the first path in order to steer on a

predetermined course. For precise system adjustments while the experimental setup

was taking place, a software programme was created in the LabView environment

and loaded on a laptop. However, they were programmed to the microcontroller

and the laptop with system software removed after final and ideal changes.

Therefore, the operator should only initiate the automatic steering system. The

basic parameters are used to automatically make subsequent modifications

(Aghkhani, Abbaspour-Fard, and Saedi 2008) . In agricultural fields and long

paths, Auto steer accurate with the least fatigue, as more attention on implement

adjustments and performance instead of vehicle driving would be achieved.

The Auto steering system that can takes coordinate data from RTK-GNSSS by

using CORS-TR system that has 147 reference stations in Turkey and measurement

errors will be approximately 3-4 cm. This study will detail the system design,

laboratory testing, and some field testing of the created automatic steering system.

For a Turkish producer of agricultural tractors, an autonomous steering system has

been designed. When the agricultural tractor was working in the field, the

automatic steering system established automatic steering. When a tractor is

working in the field, the autonomous guiding system can be turned on, and the

tractor driver can turn it off as needed. Any issues with the automatic steering

system will be warned to the driver. On a touch-screen in the tractor, the operator

can view the tractor's position, route, tracks, and the field's working area. On the
touch-screen, several logs can be seen, and different modifications can be made

Software Development Kit (C++ programming language in Visual Studio 2005) for

Windows CE 6.0 and Labview were used to create the steering control software.

The tractor's position, obtained from a positioning device, and the paths it needs to

follow are used by developed software to generate commands. The steering control

unit will get these instructions. The software also offers the ability to load and save

jobs. (Akdemir et al. 2012). The steering control software was developed to

operate the guidance system and positive results were achieved using automatic

tractor guidance in field.

The guidance information from crop row structure is essential for accurate

operation of a vision-based automatic agricultural vehicle in row-crop applications.

Row segmentation using the K-means clustering algorithm, row identification

using the moment algorithm, and guidance line are all part of the process and

choice made using a cost function. Additional data, such as the established crop

row spacing. The accuracy of the suggested image processing method was tested

using two picture data sets, one from a soybean field and the other from a cornfield

30-soybean pictures were used and the average RMS offset error. The navigation

planner uses the guidance directrix, DGPS positional data, and other tractor states

to determine a navigation command, or the commanding wheel angle. In order to

drive the steering actuator, the steering controller computes an implementing

steering control signal based on the discrepancy between the commanded and

measured wheel angles. The steering actuator is part of the electrohydraulic (E/H)

steering system, which regulates how quickly the wheels turn. Following a brief
movement by the vehicle, the subsequent loop begins with the vision sensor

capturing a fresh image (Han et al. 2004).

The current commercial harvester is causing the wild blueberry business to

experience higher harvesting losses. Due to advancements in plant growth and

production, these machines are no longer able to harvest the greater yields as

effectively. (Yarborough 2014)The purpose of this study was to assess how

effectively a commercial wild blueberry harvester performed in terms of fruit

losses during harvest. In the Canadian provinces of Nova Scotia and New

Brunswick, four wild blueberry fields were chosen. To investigate the joint impact

of ground speed and header revolutions per minute (rpm) on harvester picking

efficiency, a 3*3 factorial experiment was designed. In each field, 81 yield plots

(0.91 3 m) were chosen at random. A (RTK-GPS) was used to map the field

boundaries, bare areas, weeds, and yield plots. Specific ground speeds of 1.2, 1.6,

and 2.0 km/h and header rpms of 26, 28, and 30 were used to run the harvester.

From each plot within the chosen fields, data on the overall fruit yield, unharvested

berries on the plants, berries on the ground, and berries through the blower were

gathered. Prior to harvest, the fruit losses from each plot were gathered. Within the

chosen fields, the treatment combinations assigned at random. Each plot's slope,

plant height, and fruit zone also manually noted.

Without satellite guidance, in fields are prone to pass-to-pass errors, particularly

undesirable overlaps, which waste fuel and pesticides, extend working hours, and

cause environmental harm. This study assesses the precision of each machinery
pass made in a field. On various tractor-implement units, actual pass-to-pass errors

(omissions and overlaps) in a field measured with and without the use of a

guidance system, and a comparison between observed guidance arrangements was

made regarding final working accuracy and potential benefits from navigation use.

In addition, repeated and intense machinery passes on the ground watched for as a

potential risk factor for field soil compaction (Kvíz, Kroulik, and Chyba 2014). The

results of our measurements showed a statistically significant difference between

the amount of area handled by machinery with precise guiding systems and

machinery without any kind of guidance system. In terms of the volume of traffic

in fields, it was discovered that while utilising conventional tillage techniques,

more than 86% of the total field area was run-over at least once during one

cropping season. Guidance system use can lessen the amount of machinery in a

field, which will help the soil conditions.

The design and construction of a wireless sensor network that can track a crop

field's air temperature, humidity, and ambient light intensity are presented in this

study. The end users, like farmers, can benefit from a greater grasp of the

agricultural practises to be used for crop management. A plant fire detection

technique has also been added into the system since early identification of plant

fires is required to avert significant crop damages. The system is made up of nodes,

each of which has a radio frequency module and a small sensor tailored for a

particular use. The centrally located computer terminal receives the sensor data

through radio frequency link for data logging and processing (Verma, Chug, and

Gadre 2010). The design also incorporates a backup plan for storing sensor data in
an EEPROM in the event that the computer terminal turns off, as might happen in

the event of a power outage. Additionally, the sensor nodes can be configured from

the computer terminal directly in accordance with the shifting demands of farmers,

eliminating the requirement for redeploying the Wireless Sensor Network each

time adjustments need to be made. Given that farmers would utilise the system to a

large extent, the Graphical User Interface has been intended to be particularly user-

friendly.

The organized structure of agricultural row crops can offer helpful tractor control

guidance data. The research for developing the tractor's vehicle navigation

parameters by fusing a machine vision system and a solid-state camera is

described. Optical filtering and managing the light's intensity on the image sensor

improve image segmentation (Reid and Searcy 1987). Simulated geometric

relationships between the crop canopy and the image plane are used to analyze

camera position and steering errors that can be inferred from the row crops.

Structured planting patterns are used for many agricultural crops. A tractor must

travel in a path established by the arrangement of the rows, with the exception of

turning at the ends of the rows. The capacity to spot steering faults in relation to the

crop row is necessary for effective vehicle control.

Sustainable farming requires strong driving precision and effective machine input

control. The objective is to carry out the plan exactly, such as evenly applying a

specified amount of fungicide on the field. Without contemporary assistance, the

farmers, on the other hand, frequently cross their driving lines. Quantitative tests to
demonstrate how mark able this overlapping is under actual circumstances have not

yet been conducted (Kaivosoja and Linkolehto 2016). To address this, we gathered

information from routine agricultural operations over the course of four years in 17

distinct fields by tracking GNSS satellite system placements and the relative level

of the implement's functionality. We created data mining techniques to determine

the typical overwork percentages of conventional crop farming techniques within

various full field plots calculated the minimum percentage of overlap between

various field works based on the total work distance. The minimal overlapping

percentages on average for the various pieces of equipment were as follows: roller

59%, spin disc fertilizer 9.5%, cultivator 19%, combine driller 7.7%, and sprayer

15.7%. We identified several overlapping components for the spraying task in

order to better understand the causes of significant variation between similar

works.

Currently in addition to manual, unmanned, and autonomous modes of operation,

autopilot mode has emerged as a viable alternative. Although the system has been

successfully implemented in the country of origin, it is of utmost importance to

determine whether it is suitable for the local topography of any country by

conducting specialized assessments of the system in regions that are distinct from

the country of origin. Thus, a preliminary evaluation of the straight-line accuracy

of an autopilot tractor operating at various specified speeds was carried out to see

whether it was appropriate for Malaysia's topography (Hairie 2019). Three levels of

autopilot tractor advance speeds, 1000, 1500, and 2000 rpm, chosen as the

conditions for assessing the tractor's straight-line accuracy. The gathered data was
examined using spreadsheet and SPSS version 25. This study discovered that the

straight-line accuracy of each of the measured speeds varied significantly.

Additionally, it demonstrated a connection between the measured speeds and

straight-line accuracy.

To evaluate the steering performance of tractors with auto-guidance systems, a

vision sensing system for measuring auto-guidance pass-to-pass and long-term

mistakes was put into place. An optical machine vision sensor was rigidly attached

on the back of the tractor under test as part of the test system that was created. The

reference point utilized to calculate the tractors actual travel route's departure from

its intended path was the middle of the drawbar hitch pinpoint. For better than 2

mm of measurement precision, the system was constructed and calibrated. Two

auto-guidance systems with RTK-level GNSS receivers were tested, and the

outcomes for various travel speeds were compared, in order to assess the sensor.

The relative locations of a reference at a collocated point when the tractor was

operated in different directions within 15 min and more than 1 h apart, respectively,

were used to determine pass-to-pass and long-term errors. Two alternative auto-

guidance steering stabilisation distances allowed for assessment of two different

definitions of steady-state operation of the system in addition to differences in

speed. The International Standard Organization's (ISO) auto-guidance test standard

could be implemented using a vision sensor testing system (ISO) (Easterly et al.

2010). This study is achieved to increased consumer awareness of the possible

performance of goods offered by a variety of suppliers will result from independent

review of auto-guidance performance.

An agricultural labor-saving robot tractor with wheels was created. The navigation

system's position and attitude sensors were an RTK-GPS (real-time kinematic

global positioning system) and an IMU (inertial measurement unit). In this study, a

turning at headland method and a path-following navigation algorithm were

developed. The auto-steering mechanism was tuned to increase navigational

precision. In actual farms, the robot tractor's uses for tillage, spraying, and weeding

were tried. For each application, the lateral error RMS (root mean square) was less

than 0.05 m. The test findings showed that the robot tractor has a high and

consistent level of navigational accuracy for the operations under test (Yang,

Noguchi, and Takai 2016). The second-generation robot tractor's data connection

system, known as the controller area network (CAN) bus, was employed to

increase stability. In recent years, tractors have used CAN buses to enhance

automatic controllability.

MATERIALS AND METHODS

Study Area:

The study will be conducted at KOONT research farm Chakwal (Latitude 33.1166 ̊

N and Longitude 73.0111 ̊ E) to evaluate effect of three different practices

(traditional, Seed drill, GNSS auto steering) on wheat crop yield during its growing

season. The soil in KOONT is mostly alkaline (Journal et al., 2018) in nature dues

to high amount of carbonates are present in soil.

Description of experimental fields:

Three plots will be selected at KOONT research farm on the basics of water

availability and soil-situ condition. Selection of plots completely depend upon soil-

situ conditions, which favors for the production of maize crops. For the

measurement of elevation of study area Digital elevation model (DEM) map is

built by using Arc GIS 10.7.1and SRTM DEM(Feng, Qiu-wen, and Cheng n.d.)

data is used for the elevation map of KOONT. Similarly, for the measurement of

slope twenty randomly selected points will be assess with in each field then slope

will be referenced as absolute slope. Maximum, minimum and average slope for

each plot will also be measured. The variability in field conditions requires

continuous operator attention for the adjustment of suitable conditions for crop

germination.

Fig: 1 Components of auto steering system

Application of different activities on selected field:

After of selection of three plots named (A & B) at study area. Three different

practices (1) Seed drill method. (2) Global Navigation Satellite Signal (GNSS) auto

steering, will be applied to assess yield and economical difference on maize crops.
In field, “A” seed drill will be used for seed, sowing and all other required

operations. Calibration of seed drill is very important before its use in the field

(Facts, n.d.). Before calibration of seed drill following steps should be followed (1)

seeded area should be determined first, (2) number of revolutions of drill of drive

wheel (3) set up drill (4) calibrate drill. Depth is very important for the drill

adjustment to ensure consistent crop establishment. Therefore, depth should be

checked many times until proper depth is achieved for maize crop.

In field, “B” GNSS auto steering mounted on tractor will be used for the sowing of

seeds. The fertilization will be done by attaching Boom sprayer with GNSS

automation device. Two different signals (GNSS) levels will be used to assess their

ability to determine position of maize harvester precisely and accurately. Manual

and seed drill samples will be also collected of comparison verses GNSS signals.

At least three different harvesting speeds will analyzed to check how signal

positions are would be effected by speed of travel. After applying all three

practices crop, yield and economic factors will be checked for each activity.

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