BS ISO 12188-2-2012 Tractors and machinery for agriculture and forestry Test procedures for positioning and guidance systems in agriculture Testing of satellite-based auto-guidance.pdf

1、raising standards worldwideNO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBSI Standards PublicationBS ISO 12188-2:2012T r a c t o r s a n d m a c h i n e r y f o r agriculture and forestry Test procedures for positioning and guidance systems in agriculturePart 2: Testing of sa

2、tellite-based auto-guidance systems during straight and level travelBS ISO 12188-2:2012 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 12188-2:2012. The UK participation in its preparation was entrusted to TechnicalCommittee AGE/6, Agricultural tractors and fo

3、restry machinery. A list of organizations represented on this committee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2012. Publ

4、ished by BSI Standards Limited 2012.ISBN 978 0 580 70091 0 ICS 35.240.99; 65.060.01 Compliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 October 2012.Amendments is

5、sued since publicationDate T e x t a f f e c t e dBS ISO 12188-2:2012 ISO 2012Tractors and machinery for agriculture and forestry Test procedures for positioning and guidance systems in agriculture Part 2: Testing of satellite-based auto-guidance systems during straight and level travelTracteurs et

6、matriels agricoles et forestiers Modes opratoires dessai des systmes de positionnement et de guidage utiliss en agriculture Partie 2: Essai des systmes dautoguidage satellitaires lors de dplacements droits et horizontauxINTERNATIONAL STANDARDISO12188-2First edition2012-09-15Reference numberISO 12188

7、-2:2012(E)BS ISO 12188-2:2012ISO 12188-2:2012(E)ii ISO 2012 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2012All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying

8、 and microfilm, without permission in writing from either ISO at the address below or ISOs member body in the country of the requester.ISO copyright officeCase postale 56 CH-1211 Geneva 20Tel. + 41 22 749 01 11Fax + 41 22 749 09 47E-mail copyrightiso.orgWeb www.iso.orgPublished in SwitzerlandBS ISO

9、12188-2:2012ISO 12188-2:2012(E) ISO 2012 All rights reserved iiiContents PageForeword ivIntroduction v1 Scope . 12 Terms and definitions . 12.1 General terms . 12.2 Error terms . 23 Test description . 23.1 Surface conditions 23.2 Test course location 23.3 Test course 33.4 Determination of RVP releva

10、nt position . 33.5 Vehicle selection 33.6 Test preparation . 33.7 Test procedure . 34 Test report and calculations . 44.1 Test report generation 44.2 AGS performance and error report . 5Bibliography 6BS ISO 12188-2:2012ISO 12188-2:2012(E)ForewordISO (the International Organization for Standardizatio

11、n) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be rep

12、resented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.International Standards ar

13、e drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an Internationa

14、l Standard requires approval by at least 75 % of the member bodies casting a vote.Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsible for identifying any or all such patent rights.ISO 12188-2 was prep

15、ared by Technical Committee ISO/TC 23, Tractors and machinery for agriculture and forestry, Subcommittee SC 19, Agricultural electronics.ISO 12188 consists of the following parts, under the general title Tractors and machinery for agriculture and forestry Test procedures for positioning and guidance

16、 systems in agriculture: Part 1: Dynamic testing of satellite-based positioning devices Part 2: Testing of satellite-based auto-guidance systems during straight and level traveliv ISO 2012 All rights reservedBS ISO 12188-2:2012ISO 12188-2:2012(E)IntroductionThis part of ISO 12188 provides detailed i

17、nformation for the dynamic testing of satellite based positioning devices or complex navigation systems (automatic steering systems) used in agriculture. The dynamic testing relies on metering geographic positioning quality when tested devices and systems are in motion resembling their use in agricu

18、lture. Various professionals need comparable and detailed information on the behaviour of such systems based on standardised test procedures. Potential users include developers and manufacturers of agricultural equipment and positioning or navigation components as well as farmers or other end users.

19、 ISO 2012 All rights reserved vBS ISO 12188-2:2012BS ISO 12188-2:2012Tractors and machinery for agriculture and forestry Test procedures for positioning and guidance systems in agriculture Part 2: Testing of satellite-based auto-guidance systems during straight and level travel1 ScopeThis part of th

20、e ISO 12188 specifies the process for evaluating and reporting the performance of agricultural vehicles equipped with automated guidance systems (AGS) based on a global navigation satellite system (GNSS) when operating in an automatic steering mode.The main performance criterion is the lateral devia

21、tion of a representative point on the vehicle from a desired trajectory for that point. This performance criterion integrates the uncertainties associated with the performance of all components of the vehicle guidance system including the positioning device(s), automated steering components, and veh

22、icle mechanisms and dynamics.This part of ISO 12188 focuses on steady-state tracking performance of the automated guidance system while travelling on straight paths over a level surface.2 Terms and definitionsFor the purposes of this document, the following terms and definitions apply.2.1 General te

23、rms2.1.1positioning devicePDinstrument that is capable of determining and reporting the position of its antenna center point in geographic coordinates and in real time using satellite-based radio-navigation signals2.1.2differential correctionmeans of accounting for predictable geographic positioning

24、 errors in real time2.1.3automatically guided vehicle systemAGVSAGS-equipped agricultural vehicle2.1.4representative vehicle pointRVPfixed point relative to a vehicle or implement used to represent the location of the AGVS2.1.5test courserepeatable route of travel comprised of one or more test cours

25、e segments typical of an agricultural field operationINTERNATIONAL STANDARD ISO 12188-2:2012(E) ISO 2012 All rights reserved 1BS ISO 12188-2:2012ISO 12188-2:2012(E)2.1.6test course segmentclearly defined continuous part of the test course that is used to estimate tracking errors of the AGVS2.1.7trac

26、king sensorinstrument or instrument system designed to produce horizontal distance measurements required for error calculations that are at least ten times more accurate than the accuracy of the AGVS being tested2.1.8test runone complete passage along the test course in one direction of travel2.1.9c

27、omplete testcombination of several identical test runs performed at different times2.1.10AB lineimaginary line passing through two arbitrary selected locations (A and B) used by most automated guidance systems to establish field traffic geometry2.1.11operatorindividual operating or monitoring the AG

28、VS being tested2.2 Error terms2.2.1relative cross-track errorXTElateral deviation of the RVP from the desired path determined from previous paths of the RVP when guided along the same test course2.2.2revisit timetime elapsed between two RVP position recording events used to calculate relative XTE; e

29、.g., measurements made in the same location along a test course during two different test runs2.2.3pass-to-pass erroranticipated short-term XTE with less than 15 min revisit time2.2.4long-term guidance erroranticipated XTE with a revisit time greater than 1 h3 Test description3.1 Surface conditionsT

30、he test course shall be established on a concrete pavement surface. Alternative surface conditions, e.g., agricultural field surfaces, may also be tested but must be clearly described in the test report.3.2 Test course locationThe test course location and geometry shall be documented with appropriat

31、e details to allow exact replication. The course shall have a change in elevation of no greater than 1 m. There shall be no obstructions visible from any point on the test course at the elevation of the PD antennae higher than 2 ISO 2012 All rights reservedBS ISO 12188-2:2012ISO 12188-2:2012(E)10 de

32、grees above a horizontal horizon that could interfere with or block satellite signals. There shall be no metallic or other surfaces within 50 m of the course that could cause multipath interference.3.3 Test courseThe test course shall include one or more test course segments. The configuration of th

33、e test course shall allow the tested AGVS to enter and exit each designated test course segment at the test velocity and in the direction of the “test path”. The test course shall allow rapid turns at the ends to maximize the ratio of time travelling through the test course segment(s) to the total t

34、est run sequence time. Each test course segment shall be at least one 100 m long preferably oriented between 35 and 55 degrees from true north.3.4 Determination of RVP relevant positionMeasurements performed by the tracking sensor shall be sufficient to determine XTE along each test course segment.

35、Reference to the tracking sensor specifications and calibration process shall be available and cited in the test report.3.5 Vehicle selectionVehicle selection should be done to provide the most representative AGVS option available to producers. For every vehicle, an RVP shall be selected so that the

36、 estimated guidance error is related to the amount of skips and overlaps when performing an actual field operation. Unless specified otherwise, RVP should be a point on the ground directly between the rear wheels for tractors to be used with 3-point hitch-mounted implements, a specified drawbar pivo

37、ting point for tractors to be used with towed implements, a point on the ground directly below the midpoint of the boom for self-propelled sprayers, and a point specified distance in front of the front wheels for combines.3.6 Test preparationPrior to testing, all components of the AGS shall be prope

38、rly installed. All firmware and user configurable settings shall be reset to default. Changes to user-configurable settings are permitted after this reset and shall be made before the initialization period and then not altered throughout an entire test. All modified settings shall be explicitly docu

39、mented.Operation manuals and other user-oriented instructions from the manufacturer shall be used to ensure full compliance with manufacturer recommendations. This requirement applies to all components of the AGVS, including the agricultural vehicle and AGS. Any significant deviation from these reco

40、mmendations (e.g. reduced accuracy of differential correction service, degraded vehicle stability, non-recommended instrumentation settings, and other scenarios of special interest) require a separate complete test.3.7 Test procedureThe following listing describes the test run sequences. The AB line

41、 shall be established at least 1 h prior to the first test run sequence by manually driving the test vehicle along the test course or by entering specified geographic coordinates. Points A and B shall represent approximate beginning and end of the longest test course segment. Each complete test for

42、a given travel speed shall consist of a minimum of three test run sequences performed with different configurations of GNSS constellation during two consecutive days. The start time for each test run sequence shall be assigned randomly. To ensure diversified quality of GNSS positioning, consecutive

43、test run sequences shall be separated by more than 1 h. In addition, two test run sequences shall not be conducted when the GNSS constellation is repeated due to the satellite orbiting cycle (24 1 h for GPS). More than a 24 h time period is required between the first and the last test run sequences.

44、 Each test run sequence shall consist of a combination of test runs that provide an evenly spread distribution of revisit time for RVP position pairs that can be used to calculate pass-to-pass error ISO 2012 All rights reserved 3BS ISO 12188-2:2012ISO 12188-2:2012(E)values. This should be accomplish

45、ed by travelling for at least 7,5 min in one direction, turning around and travelling 7,5 min back to the start. The horizontal distance between RVP positions, recorded when travelling in opposite direction, shall represent XTE for every discrete portion of test course segments. Repeating the first

46、pass after turning around will allow two independent estimates of pass-to-pass error for every value of revisit time under 15 min. In case a test course combines more than one test course segment and/or requires a significant portion of a test run to occur outside the designated test course segments

47、, the distribution of revisit time for valid RVP position records shall not have more than a 25 % data gap (revisit time with no corresponding data), and no such gaps are allowed between 12 min and 15 min as greater errors could be observed with longer revisit times. Each test run sequence shall be

48、performed at a constant travel speed when moving forward with constant engine speed setting (as performing field operations). No operator actions are allowed while travelling through a test course segment where test data are being recorded. For tractors, it is recommended to use three different spee

49、ds: slow (0,1 0,05 m/s or the minimum recommended for the vehicle in use), medium (2,5 0,2 m/s), and fast (5 0,2 m/s). If travelling at 0,1 m/s with automatic steering mode engaged is not feasible, the lowest possible travel speed shall be used and a corresponding note shall be provided in the report. Test data corresponding to each travel speed as well as optional travel in reverse shall be processed independently. The medium travel speed is recommended for combines and fast travels speed for self-propelled sprayers. Rela