16 igg I G G S c h r i ft Institut für e n r e i Geodäsie und Geoinformation h e Schriftenreihe 16 2 n 2nd International Conference on d I n t e Machine Control & Guidance r n a t i Proceedings o n a l C o n March 9-11, 2010 f e r e Ed. by Peter Schulze Lammers and n c e Heiner Kuhlmann o n Faculty of Agriculture M a c University of Bonn, Germany h i n e C o n t r o l & G u i d a n c e ISSN 1864-1113 2nd International Conference on Machine Control & Guidance • Proceedings (cid:105)(cid:103)(cid:103) (cid:73)(cid:110)(cid:115)(cid:116)(cid:105)(cid:116)(cid:117)(cid:116)(cid:32)(cid:102)(cid:252)(cid:114) (cid:71)(cid:101)(cid:111)(cid:100)(cid:228)(cid:115)(cid:105)(cid:101)(cid:32)(cid:117)(cid:110)(cid:100)(cid:32)(cid:71)(cid:101)(cid:111)(cid:105)(cid:110)(cid:102)(cid:111)(cid:114)(cid:109)(cid:97)(cid:116)(cid:105)(cid:111)(cid:110) (cid:83)(cid:99)(cid:104)(cid:114)(cid:105)(cid:102)(cid:116)(cid:101)(cid:110)(cid:114)(cid:101)(cid:105)(cid:104)(cid:101) (cid:49)(cid:54)(cid:49) (cid:50)(cid:110)(cid:100)(cid:32)(cid:73)(cid:110)(cid:116)(cid:101)(cid:114)(cid:110)(cid:97)(cid:116)(cid:105)(cid:111)(cid:110)(cid:97)(cid:108)(cid:32)(cid:67)(cid:111)(cid:110)(cid:102)(cid:101)(cid:114)(cid:101)(cid:110)(cid:99)(cid:101)(cid:32)(cid:111)(cid:110)(cid:32) (cid:77)(cid:97)(cid:99)(cid:104)(cid:105)(cid:110)(cid:101)(cid:32)(cid:67)(cid:111)(cid:110)(cid:116)(cid:114)(cid:111)(cid:108)(cid:32)(cid:38)(cid:32)(cid:71)(cid:117)(cid:105)(cid:100)(cid:97)(cid:110)(cid:99)(cid:101) (cid:80)(cid:114)(cid:111)(cid:99)(cid:101)(cid:101)(cid:100)(cid:105)(cid:110)(cid:103)(cid:115) (cid:77)(cid:97)(cid:114)(cid:99)(cid:104)(cid:32)(cid:57)(cid:45)(cid:49)(cid:49)(cid:44)(cid:32)(cid:50)(cid:48)(cid:49)(cid:48) (cid:69)(cid:100)(cid:46)(cid:32)(cid:98)(cid:121)(cid:32)(cid:80)(cid:101)(cid:116)(cid:101)(cid:114)(cid:32)(cid:83)(cid:99)(cid:104)(cid:117)(cid:108)(cid:122)(cid:101)(cid:32)(cid:76)(cid:97)(cid:109)(cid:109)(cid:101)(cid:114)(cid:115)(cid:32)(cid:97)(cid:110)(cid:100) (cid:72)(cid:101)(cid:105)(cid:110)(cid:101)(cid:114)(cid:32)(cid:75)(cid:117)(cid:104)(cid:108)(cid:109)(cid:97)(cid:110)(cid:110) (cid:70)(cid:97)(cid:99)(cid:117)(cid:108)(cid:116)(cid:121)(cid:32)(cid:111)(cid:102)(cid:32)(cid:65)(cid:103)(cid:114)(cid:105)(cid:99)(cid:117)(cid:108)(cid:116)(cid:117)(cid:114)(cid:101) (cid:85)(cid:110)(cid:105)(cid:118)(cid:101)(cid:114)(cid:115)(cid:105)(cid:116)(cid:121)(cid:32)(cid:111)(cid:102)(cid:32)(cid:66)(cid:111)(cid:110)(cid:110)(cid:44)(cid:32)(cid:71)(cid:101)(cid:114)(cid:109)(cid:97)(cid:110)(cid:121) Diese Veröffentlichung erscheint anlässlich der 2nd International Conference on Machine Control & Guidance, die vom 9. - 11. März 2010 in Bonn stattfindet. Schriftenreihe des Instituts für Geodäsie und Geoinformation der Rheinischen Friedrich-Wilhelms-Universität Bonn Herausgeber: Prof. Dr.-Ing. Wolfgang Förstner Prof. Dr.-Ing. Theo Kötter Prof. Dr.-Ing. Heiner Kuhlmann Prof. Dr.-Ing. Jürgen Kusche Prof. Dr. Lutz Plümer Prof. Dr. techn. Wolf-Dieter Schuh Die Aufnahme dieser Arbeit in die Schriftenreihe wurde von den Herausgebern der Reihe einstimmig beschlossen. Dieses Werk ist einschließlich aller seiner Teile urheberrechtlich geschützt. Abdruck auch auszugsweise nur mit Quellenangabe gestattet. Alle Rechte vorbehalten. Für die Inhalte der einzelnen Beiträge sind die jeweiligen Autoren verantwortlich The authors are responsible fort the contents of the papers. The use of contents has to follow the laws of copyright and ownership. The spreading of this document is not allowed. Bonn 2010 ISSN 1864-1113 Preface The importance of 3D-position sensors for the navigation of machinery on construction sites of roads, tunnels, railways, and airports has been steadily increasing over the last few years and the market keeps growing. Also, in the field of agricultural GPS-based applications, such as machine guidance, parallel tracking and yield mapping, new methods are introduced. The main goal of the 1st International Conference on Machine Control & Guidance was to initiate the discussion of these topics among academics, researchers, system and service providers as well as users. The idea was to start a new conference series. The positive feedback on the first conference confirms the great interest on the topic of Machine Control & Guidance. As a consequence, the MCG- conference is now held for the second time. This year, the conference will be hosted by the Faculty of Agriculture of the University of Bonn. Because of the traditional relationship between the Institute of Agricultural Engineering and the Institute of Geodesy and Geoinformation the agricultural applications are one focus of the conference. Further thematic highlights of the 2nd Conference on Machine Control & Guidance are: - Global Navigation Satellite Systems (GNSS) - Inertial Navigation Systems (INS) - Multi-Sensor-Systems - System Control and Management - Intelligent Mobile Machines - Agricultural Applications The organisers look forward to a variety of presentations, which will bring about fruitful discussions. Thus, this meeting will be a good opportunity to strengthen interdisciplinary cooperations between all participating communities. Finally, we would like to thank all authors, attendees and interested persons for their individual contributions. Bonn, February 2010 Peter Schulze Lammers Heiner Kuhlmann 1 2 Contents GNSS-RTK Services and Kinematic Applications 7 R. Keenan, B. Beutelspacher 9 RTK Networks for competitive advantage in Machine Control and Site Positioning T. Muhr, P. O. Noack 19 Review of RTK Correction Sources for Agricultural Applications in Germany GNSS-based Auto-Guidance: Performance, Limits, Applications 27 D. R. Easterly, V. I. Adamchuk, R. M. Hoy, M. F. Kocher 29 Testing of RTK-Level Satellite-Based Tractor Auto-Guidance Using a Visual Sensor System X. Zhang, M. Geimer, L. Grandl, P. O. Noack, M. F. Kocher 37 Electronically Controlled Towing Bar between Agricultural Vehicles P. O. Noack, B. Kammerbauer, M. Schönfelder 45 Path Planning Algorithms for a GPS based Electronic Tow Bar Data Processing: System Control and Management 51 H. Regler 53 Management of machine and process data in the equipment, on-site and at the headquarters S. Kirn, C. Frantzen, M. Kaak, A. Sturm 55 AutoBauLog – Autonomic Control in Construction Logisics R. Gerhards, C. Gutjahr, M. Weis, M. Sökefeld 57 Using Precision Farming Technologies and Geographic Information Systems for Field Experiments in Crop Science Path Determination – Sensor Fusion and Sensor Technologies 63 V. Böder 65 HCU-HMSS: A Multi Sensor System in Hydrographic Applications G. Gräfe 75 High precision kinematic 3D Surveying Technology for Road, Airfield or Railway Tunnel Applications J. Paffenholz, S. Horst, H. Alkhatib, H. Kutterer 85 On the Tracking of a Laser Scanner for Geo-Referencing Tasks by Means of Geodetic Sensors M. Muffert, J. Siegemund, W. Förstner 95 The estimation of spatial positions by using an omnidirectional camera system 3 Various Aspects of Intelligent Mobile Machines 105 T. Kautzmann, M. Wünsche, M. Geimer, H. Schmeck, S. Mostaghim 107 Self-optimizing Machine Management M. Scherer, M. Geimer, Ch. Rusch, H. Meyer 117 Machine Diagnostics in scope of the LaSeKo Project A. Beetz, V. Schwieger 125 Enhancement of the Control Quality by an Automatic Calibration Procedure using the Example of a Construction Machine Simulator GNSS-based Determination of Position and Orientation 137 K. Lakakis, P. Savvaidis, T. Wunderlich 139 Fast Tracing of 3D Road Geometry by a Mobile Multi-GPS System S. Häberling, A. Geiger 149 Determination of Attitude Change by a Single GPS Antenna Ch. Eling, P. Zeimetz, H. Kuhlmann 151 Determination of a GPS-Single-Epoch Orientation based on Double Differences Agricultural Applications 161 M. Naderi-Boldaji, A. Sharifi, M. Younesi, B. Jamshidi, F. Abbasi, S. Minaee 163 A combined sensor for on-the-go measurement of soil moisture content and mechanical resistance: Moisture sensor design and calibration M. von Hoyningen-Huene, M. Baldinger 171 Tractor-Implement-Automation and its application to a tractor-loader wagon combination G. Happich, T. Lang, H. Harms 187 Parallel operated loading using a spatial descriptive model Agricultural Applications – Precision Seeding 197 S. Götz, H. Bernhardt 199 GPS controlled mechanism for precision maize seeding – field tested example for practical use O. Schmittmann, H. Kam, P. Schulze Lammers 205 Position Steered Sowing of Sugar Beet – Technology and Precision F. Schölderle, P. Zeimetz, H. Kuhlmann 213 A Multi-Sensor System in Precision Farming for Position Steered Seed of Sugar Beet - An Approach to the Turnaround 4