A novel approach to piecewise analytic agricultural machinery path reconstruction

ABSTRACT

Before analysing machinery operation in fields, it has to be coped with the problem that the GPS signals of GPS receivers located on the machines contain measurement noise, are time-discrete, and the underlying physical system describing the positions, axial and absolute velocities, angular rates and angular orientation of the operating machines during the whole working time are unknown. This research work presents a new three-dimensional mathematical approach using kinematic relations based on control variables as Euler angular velocities and angles and a discrete target control problem, such that the state control function is given by the sum of squared residuals involving the state and control variables to get such a physical system, which yields a noise-free and piecewise analytic representation of the positions, velocities, angular rates and angular orientation. It can be used for a further detailed study and analysis of the problem of why agricultural vehicles operate in practice as they do.

KEYWORDS:

• agricultural vehicles
• modelling
• control
• optimization
• optimal path reconstruction

Disclosure statement

No potential conflict of interest was reported by the authors.

Notes

1. The steering angle is given by .

2. Special orthogonal group of .

3. This assumption contributes to a smooth path.