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$GPGGA,152242.00,2938.4299131,N,08221.6896220,W,2,10,0.9,28.91,M,-31.11,M,5.0,0193*47
$GPGGA Global Positioning System Fix Data
152242.00 Time 15:22:42 Coordinated Universal Time (UTC)
938.4299131,N Latitude 29 deg 38.4299131' North
08221.6896220, Longitude 82 deg 21.6896220' West
W √
2 Fix quality
10 Number of satellites being tracked
( )
0.9 Horizontal dilution of position (HOD) √ Eq.1
28.91,M Altitude, Meters, above mean sea level
-31.11,M Height of Geoid (mean sea level) above WGS84 ellipsoid
5.0 time in seconds since last DGPS update Here a=6378137 (m) is the equatorial radius, b=6356752.3142
0193 DGPS station ID number (m) is polar radius, is elevation (m), and are true angles,
*47 the checksum data, always begins with * and are radius of each point , , and on the X-Y
coordinates, and and are the coordinates. A simple yet very
4. Lat/Long conversion and coordinate transformation accurate method to calculate distance between two points in the field
is to use ellipsoidal Vincenty formula, given in Eq.2. The latitude and
GPS receiver communication is defined within NMEA-0183 longitude in this method should be provided in radian format. For
standard protocol. The output is an ASCII file which contains several sufficiently close points in a field (within 1 minute change in
comma delimited lines of data called sentence or string, each of longitude and latitude), the following equation from USGS Bulletin
which including the entire position, velocity and time (PVT) 1532 (1987) discussed in [3] can be used:
computed by the GPS receiver. Different brands use different types of
NMEA sentences. As mentioned, the two most common string format [ Eq.2
used in agricultural applications are GPGGA and GPRMC. The format ]
of latitude and longitude in both arrangements is recorded in
degrees-and-decimal minutes ( ). Another way of
expressing latitude and longitude is in angular units of degrees,
minutes and seconds ( . It is usually necessary to √
convert this format to decimal degrees or radians for geometric
computational purposes. This conversion is illustrated in Table 2. [ ]
√ Eq.3
Page 2 of 6
Global Positioning System in Precision Agriculture, A Lecture Note. Redmond Ramin Shamshiri, Ph.D.
https://florida.academia.edu/RaminShamshiri
where a=6378135 (m) is the equatorial radius, b=6356752.3 (m) is methods, GPS coordinates for 11 points was collected as shown in
the polar radius, e=0.081819803 m, Long= Longitude (rad), Lat= Figure 3 and distances between each consecutive pairs were
Latitude (rad), is the horizontal displacement, is the vertical calculated and compared with tape measurement results (Table 3)
displacement, and D is Distance (m). Another similar method is
discussed in [4] and is given by the following equation:
( )
[ ]
( )
[ ]
√( ) ( ) Eq.4
where Lat=Latitude (degree decimal), Long= Longitude (degree Figure 3. Experimenting with 11 sample points
decimal), = Latitude conversion factor, = Longitude
conversion factor, and = Distance (m). To evaluate these four
Table 3. Comparison between four methods of distance calculation and validating with tape measurement
No Point (longitude, latitude) Distance (m) (Di=Pi+1-Pi)
Lat Long Tape measurement Eq.1 Eq.2 Eq.3 Eq.4
1 -8108.1287 2720.2378 0.97 0.98063 0.98311 0.93232 0.95335
2 -8108.1285 2720.2373 0.98 0.98063 0.98311 0.93232 0.95335
3 -8108.1283 2720.2368 1.29 1.28970 1.29619 1.12255 1.19705
4 -8108.1279 2720.2362 1.23 1.23812 1.23919 0.94154 1.07865
5 -8108.1274 2720.2357 1.09 1.10722 1.10836 0.75813 0.92398
6 -8108.1269 2720.2353 1.37 1.37072 1.37071 0.77105 1.06992
7 -8108.1262 2720.2349 1.33 1.33239 1.33058 0.29545 0.90019
8 -8108.1254 2720.2348 1.16 1.16926 1.17175 0.27377 0.79277
9 -8108.1247 2720.2349 1.37 1.37026 1.37071 0.43727 0.95582
10 -8108.1239 2720.2351 1.16 1.16926 1.17175 0.27377 0.79277
11 -8108.1232 2720.2352 - - - - -
Page 3 of 6
Global Positioning System in Precision Agriculture, A Lecture Note. Redmond Ramin Shamshiri, Ph.D.
https://florida.academia.edu/RaminShamshiri
turn increases machine productivity and labor saving. Increasing
machine productivity can be achieved through optimizing effective
field capacity which at the end, translates into lower unit cost of
production. Two parameters play an important role in effective field
machine capacity. First, machine management which refers to the
mechanical condition of the machine and indicate where, when and
how the machine is used on field. Second, physical condition of the
field which includes field size and shape, topography, terrace layout,
row length and arrangement, row-end turning space and field
surface. Since a particular machine has a fixed theoretical field
capacity, therefore, new technology such as GPS/GIS and wireless
communication for real-time data increase machine productivity not
in terms of acres per hour, but by utilizing machine and operator’s
time more effectively. Track-and-record of machinery location in
field using GPS is the first step in precision analysis of farm
machinery operation. Processing such raw data provides useful
information and document changes in machine field speed and field
time that can help growers to create decision support systems for a
better farm and machinery management. For example, precise
determinations of time losses using GPS data along with accurate
measurements and records of field speed provide an integrated tool
Figure 5. An example of a yield map to calculate field efficiency and machine capacity as well as
visualizing driver’s performance. These results can be used to make
In the absence of modern technology, soil sample was decision on machine size and selection. In precision agriculture, GPS
overlooked and fertilizer was over-applied to guarantee the data are mainly used in determining some parameters of interests as
adequate level of nutrient for plant. There are several other factors in yield mapping, soil mapping, and field boundary mapping,
than nutrient level that affects crop yield. Soil PH, soil organic matter, however, this technology also provides a promising management
texture, topography, and compaction also have impact on crop yield. tool in machinery management. As potential users of GPS data,
These variations in the soil should be determined through soil farmers should know that data collection in general and data
sampling and demonstrate as different soil property maps. As a analyzing in particular provides an excellent opportunity to analyze
method of soil sampling, in grid point sampling, a farmer divides a the location and operational time of farm machinery for a better field
field into small size rectangular sections and gathers soil samples at management. Since larger machines are more expensive, their time
the center of each grid. Along with each sample, a pair of latitude- lost such as field adjustments, loading seed and fertilizer and row
longitude is also recorded using DGPS to georeference the properties ends turnings becomes more critical and more costly during annual
of each soil sample. Using GIS software and interpolation, these data operational hours. The increasing costs of farm operations, especially
are then used to create soil maps as shown in Figure 6. The objective in large scale production persuade producers to invest on reliable
of these maps is to estimate the need for soil nutrients on a scale methods of cost justification. Since mechanical power is an
smaller than entire field. In large scale fields, this approach can indispensable part of today’s agriculture, farm machinery should be
effectively save up to several thousand dollars by adjusting fertilizer used to the best possible advantage.
and chemicals application in different sites of the field.
Operational analysis is an approach to increase machine
capacity and obtain efficient machine utilization. Driver’s
performance and field condition affect total operation costs, such as
fuel, lubricants and repairs, especially in larger machinery which
have higher hourly costs. Another issue that is important in any farm
operation and may affect farm machinery is timeliness. This
parameter refers to the ability of manager to complete a farm activity
at such a time that crop return (quantity and quality) is optimized.
Better management strategies to improve planning and scheduling
such as motion-and-time study management will reduce peak
machinery demand and maintain a more stable machine force on the
farm, leading to increase yield and profitability. Insufficient machine
capacity may prevent completion of a field operation and create
economic penalties. In some cases, the quality of field crops,
including grains and hays, or horticultural crops, including
vegetables and fruits are affected by the dates of planting and
harvesting which represents a hidden cost associated with farm
machinery. Therefore, obtaining accurate time record of all activities
for a specific machine operation is always the first step in operation
Figure 6. An example of a soil map analysis. GPS receivers and data loggers can easily generate and
store time and position information. The second step is to divide the
6. GPS application in farm machinery management time recorded into primary and support functions. For example, in a
Mechanical power was adopted for farm use in the late 1800’s citrus harvesting operation, shaking tree and picking fruits from
and is a vital element in today’s modern agriculture. As the primary canopy is the primary function. Support functions include stops,
source of power in field, farm machinery should be used to the best adjustments and cleaning. Each component of operation is expresses
possible advantage. This is an important issue as agriculture moves as a percent of total field time. GPS mounted equipment and
towards mechanization. With growth in average farm size, faster and computer algorithms can provide managers with essential
higher capacity machines are demanded to accomplish farm tasks in information for analyzing machine performance, including effective
a shorter time. Modern technology provides farmers with a operation time. The third step is to provide details analysis of the
sophisticated tool to track and monitor their equipment which in information obtained in the steps one and two. This includes
Page 4 of 6
Global Positioning System in Precision Agriculture, A Lecture Note. Redmond Ramin Shamshiri, Ph.D.
https://florida.academia.edu/RaminShamshiri
examination of each segment of the operation to determine if the
time for any appears to be excessive when compared to average
values from reasonably efficient operations. Computer programs
such as GIS software can be used to visualize this analysis and make
decision for those segments which show the greatest possibility for
improving the efficiency of the total operation.
How well adapted a specific field is for the use of machinery on Eq.6
it is indicated by field machine index (FMI). This index includes the
influence of row-end turning conditions and row length on actual
Field speed and field efficiency can be determined directly from
field production time and total row end turning time. In the other
GPS data. Instantaneous yield is defined as the harvested mass per
words, FMI is the ratio of the productive machine time to the sum of
unit area and can be calculated as:
productive machine time plus the row-end turning time. Lost time is
the time used for support functions, such as making adjustment,
fueling, etc. The maximum possible value for FMI is 100. The higher ( )
field machine index, the better field adapted to machine use. Three or
basic items of information are needed to determine FMI, total field
time (Tf), total support function time (Ts) and total turning time (Tr).
All of these items can be calculated accurately from raw GPS data.
The FMI can be calculated as follows:
Flow rate is measured using mass flow sensors such as impact
force sensor (load-cell based), plate displacement sensors
(potentiometer devices), radiometric systems or image processing
applications. Calculating field efficiency from raw GPS data require
computer algorithms to determine machine time loses, which as
For example, in a citrus mechanical harvesting operation, is mentioned, is a result of row end turnings, machine adjustment (i.e.,
the total harvesting time, expressed in minutes, required to finish the unclogging of spray nozzles), lubrication and refueling, material
harvesting operation, is the support function time which might handling (i.e., seed, fertilizer, chemicals, water, and harvested
include machine adjustments, stops, driver breaks, cleaning parts, material) and equipment cleaning. Time losses that are either
etc and is the total time spent on turning at row ends. A computer proportional or non-proportional to the area should be determined
algorithm which uses classification techniques such as mathematical from collected GPS data and filtered out from the effective harvesting
equations, image processing, artificial intelligent, etc is required to time in order to calculate field efficiency and field machine index
calculate each of the above time items based on the location of according to the following equations:
machine on field. The result of such calculation is shown in Table 4.
These results are extracted directly from a total of 92141 lines of raw
GPS data (GPRMC strings) collected in five harvesting days of citrus, Eq.7
(January 01, 02, 03, 05 and 06, 2009) in a grove near Lake Alfred,
Florida. Eq.8