Abstract

Navigational systems with high accuracy capabilities are essential modern tools for sophisticated agricultural operations, particularly when used in challenging environments. For fully automated agrarian vehicles, the BeiDou Navigation Satellite System, when combined with RTK and inertial navigation systems, provides high accuracy at a reasonable cost. This paper focuses on enhancing the BeiDou System for better navigation accuracy under farmland complexities like signal blockage, multipath interference, and rough terrain. A low-cost RTK-BDS/INS navigation system, which employs Kalman filtering and multipath reduction techniques, was built. Testing in various areas, including open fields, densely vegetated regions, and those with obstructed signals, demonstrated that the system achieved position accuracy better than 3 cm in open areas and better than 10 cm in more obstructed environments. The system was validated for accuracy, resilience, and real-time performance and was found to have improved flexibility, speed, and efficiency in operation. In addition, precision agriculture through IoT and 5G sensors enabled advanced autonomous controls for tasks such as precision seeding, fertilization, and path following. This approach facilitates further development in machine automation for sustainable agriculture, advancing precision and conventional farming systems through data integration.