1、 ASABE/ISO 12188-2:2012 OCT2015 Tractors 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 travel American Society of Agricultural and Biological Engineers
2、ASABE is a professional and technical organization, of members worldwide, who are dedicated to advancement of engineering applicable to agricultural, food, and biological systems. ASABE Standards are consensus documents developed and adopted by the American Society of Agricultural and Biological Eng
3、ineers to meet standardization needs within the scope of the Society; principally agricultural field equipment, farmstead equipment, structures, soil and water resource management, turf and landscape equipment, forest engineering, food and process engineering, electric power applications, plant and
4、animal environment, and waste management. NOTE: ASABE Standards, Engineering Practices, and Data are informational and advisory only. Their use by anyone engaged in industry or trade is entirely voluntary. The ASABE assumes no responsibility for results attributable to the application of ASABE Stand
5、ards, Engineering Practices, and Data. Conformity does not ensure compliance with applicable ordinances, laws and regulations. Prospective users are responsible for protecting themselves against liability for infringement of patents. ASABE Standards, Engineering Practices, and Data initially approve
6、d prior to the society name change in July of 2005 are designated as “ASAE”, regardless of the revision approval date. Newly developed Standards, Engineering Practices and Data approved after July of 2005 are designated as “ASABE”. Standards designated as “ANSI” are American National Standards as ar
7、e all ISO adoptions published by ASABE. Adoption as an American National Standard requires verification by ANSI that the requirements for due process, consensus, and other criteria for approval have been met by ASABE. Consensus is established when, in the judgment of the ANSI Board of Standards Revi
8、ew, substantial agreement has been reached by directly and materially affected interests. Substantial agreement means much more than a simple majority, but not necessarily unanimity. Consensus requires that all views and objections be considered, and that a concerted effort be made toward their reso
9、lution. CAUTION NOTICE: ASABE and ANSI standards may be revised or withdrawn at any time. Additionally, procedures of ASABE require that action be taken periodically to reaffirm, revise, or withdraw each standard. Copyright American Society of Agricultural and Biological Engineers. All rights reserv
10、ed. ASABE, 2950 Niles Road, St. Joseph, Ml 49085-9659, USA, phone 269-429-0300, fax 269-429-3852, hqasabe.org ASABE/ISO 12188-2:2015 OCT2015 Copyright American Society of Agricultural and Biological Engineers 1 ASABE/ISO 12188-2:2012 OCT2015 Approved October 2015 as an American National Standard Tra
11、ctors 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 travel These materials are subject to copyright claims of ISO and ASABE. No part of this publication
12、 may be reproduced in any form, including an electronic retrieval system, without the prior written permission of ASABE. All requests pertaining to ASABE/ISO 12188-2:2012 OCT2015 standard should be submitted to ASABE. This standard was reviewed for adoption by the ASABE Machinery Systems Precision A
13、griculture and Agricultural Electronics committees. Adopted by ASABE and approved as an American National Standard October 2015. Keywords: Accuracy, Auto-guidance, GNSS, Test 0 Foreword 0.1 ASABE/ISO 12188-2:2012, Tractors and machinery for agriculture and forestry Test procedures for positioning an
14、d guidance systems in agriculture Part 2: Testing of satellite-based auto-guidance systems during straight and level travel, is an adoption without modification of the identically titled ISO standard ISO 12188-2:2012, Tractors and machinery for agriculture and forestry Test procedures for positionin
15、g and guidance systems in agriculture Part 2: Testing of satellite-based auto-guidance systems during straight and level travel 0.2 This standard specifies the process for evaluating and reporting the performance of agricultural vehicles equipped with automated guidance systems (AGS) based on a glob
16、al navigation satellite system (GNSS) when operating in an automatic steering mode. The main performance criterion is the lateral deviation of a representative point on the vehicle from a desired trajectory for that point. This performance criterion integrates the uncertainties associated with the p
17、erformance of all components of the vehicle guidance system including the positioning device(s), automated steering components, and vehicle mechanisms and dynamics. This part of ISO 12188 focuses on steady-state tracking performance of the automated guidance system while travelling on straight paths
18、 over a level surface. 0.3 There are no normative references in ISO 12188-2:2012. 0.4 This standard has been approved as an American National standard by ANSI (American National Standards Institute). The original content of ISO 12188-2:2012 was based on ASABE copyright document X605 Satellite-Based
19、Auto-Guidance Systems Testing During Straight and Level Travel. Text of ISO 12188-2:2012, Tractors 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 travel,
20、 follows. ASABE/ISO 12188-2:2015 OCT2015 Copyright American Society of Agricultural and Biological Engineers 2 1 Scope This part of the ISO 12188 specifies the process for evaluating and reporting the performance of agricultural vehicles equipped with automated guidance systems (AGS) based on a glob
21、al navigation satellite system (GNSS) when operating in an automatic steering mode. The main performance criterion is the lateral deviation of a representative point on the vehicle from a desired trajectory for that point. This performance criterion integrates the uncertainties associated with the p
22、erformance of all components of the vehicle guidance system including the positioning device(s), automated steering components, and vehicle mechanisms and dynamics. This part of ISO 12188 focuses on steady-state tracking performance of the automated guidance system while travelling on straight paths
23、 over a level surface. 2 Terms and definitions For the purposes of this document, the following terms and definitions apply. 2.1 General terms 2.1.1 positioning device PD instrument that is capable of determining and reporting the position of its antenna center point in geographic coordinates and in
24、 real time using satellite-based radio-navigation signals 2.1.2 differential correction means of accounting for predictable geographic positioning errors in real time 2.1.3 automatically guided vehicle system AGVS AGS-equipped agricultural vehicle 2.1.4 representative vehicle point RVP fixed point r
25、elative to a vehicle or implement used to represent the location of the AGVS 2.1.5 test course repeatable route of travel comprised of one or more test course segments typical of an agricultural field operation 2.1.6 test course segment clearly defined continuous part of the test course that is used
26、 to estimate tracking errors of the AGVS ASABE/ISO 12188-2:2015 OCT2015 Copyright American Society of Agricultural and Biological Engineers 3 2.1.7 tracking sensor instrument or instrument system designed to produce horizontal distance measurements required for error calculations that are at least t
27、en times more accurate than the accuracy of the AGVS being tested 2.1.8 test run one complete passage along the test course in one direction of travel 2.1.9 complete test combination of several identical test runs performed at different times 2.1.10 AB line imaginary line passing through two arbitra
28、ry selected locations (A and B) used by most automated guidance systems to establish field traffic geometry 2.1.11 operator individual operating or monitoring the AGVS being tested 2.2 Error terms 2.2.1 relative cross-track error XTE lateral deviation of the RVP from the desired path determined from
29、 previous paths of the RVP when guided along the same test course 2.2.2 revisit time time elapsed between two RVP position recording events used to calculate relative XTE; e.g., measurements made in the same location along a test course during two different test runs 2.2.3 pass-to-pass error anticip
30、ated short-term XTE with less than 15 min revisit time 2.2.4 long-term guidance error anticipated XTE with a revisit time greater than 1 h 3 Test description 3.1 Surface conditions The test course shall be established on a concrete pavement surface. Alternative surface conditions, e.g., agricultural
31、 field surfaces, may also be tested but must be clearly described in the test report. ASABE/ISO 12188-2:2015 OCT2015 Copyright American Society of Agricultural and Biological Engineers 4 3.2 Test course location The test course location and geometry shall be documented with appropriate details to al
32、low 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 10 degrees above a horizontal horizon that could interfere with or block satellite signa
33、ls. There shall be no metallic or other surfaces within 50 m of the course that could cause multipath interference. 3.3 Test course The test course shall include one or more test course segments. The configuration of the test course shall allow the tested AGVS to enter and exit each designated test
34、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 test run sequence time. Each test course segment shall be at least one 100 m long
35、preferably oriented between 35 and 55 degrees from true north. 3.4 Determination of RVP relevant position Measurements performed by the tracking sensor shall be sufficient to determine XTE along each test course segment. Reference to the tracking sensor specifications and calibration process shall b
36、e available and cited in the test report. 3.5 Vehicle selection Vehicle 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 estimated guidance error is related to the amount of skips and overlaps when
37、 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 pivoting point for tractors to be used with towed implements, a point on the grou
38、nd 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 preparation Prior to testing, all components of the AGS shall be properly installed. All firmware and user configurable settings shall be reset t
39、o 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 documented. Operation manuals and other user-oriented instructions from the man
40、ufacturer 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 recommendations (e.g. reduced accuracy of differential correction service, deg
41、raded vehicle stability, non-recommended instrumentation settings, and other scenarios of special interest) require a separate complete test. 3.7 Test procedure The following listing describes the test run sequences. The AB line shall be established at least 1 h prior to the first test run sequence
42、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 a given travel speed shall consist of a minimum of three test run sequen
43、ces 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 test run sequences shall be separated by more than 1 h. In addition, two
44、 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. ASABE/ISO 12188-2:2015 OCT2015 Copyright American Society of Agricultur
45、al and Biological Engineers 5 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 values. This should be accomplished by travelling for at least 7,5 min i
46、n 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 pass after turning around will allow tw
47、o 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, the distribution of revisit time for
48、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 performed at a constant travel speed whe
49、n 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 speeds: 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 cor
