BS ISO 12188-1-2010 Tractors and machinery for agriculture and forestry - Test procedures for positioning and guidance systems in agriculture - Dynamic testing of satellite-based p.pdf

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1、BS ISO12188-1:2010ICS 35.240.99; 65.060.01NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBRITISH STANDARDTractors andmachinery foragriculture andforestry Testprocedures forpositioning andguidance systems inagriculturePart 1: Dynamic testing of satellite-based positioning devic

2、esThis British Standardwas published under theauthority of the StandardsPolicy and StrategyCommittee on 31 March2010 BSI 2010ISBN 978 0 580 63950 0Amendments/corrigenda issued since publicationDate CommentsBS ISO 12188-1:2010National forewordThis British Standard is the UK implementation of ISO 1218

3、8-1:2010.The UK participation in its preparation was entrusted to TechnicalCommittee AGE/6, Agricultural tractors and forestry machinery.A list of organizations represented on this committee can be obtained onrequest to its secretary.This publication does not purport to include all the necessary pro

4、visionsof a contract. Users are responsible for its correct application.Compliance with a British Standard cannot confer immunityfrom legal obligations.BS ISO 12188-1:2010Reference numberISO 12188-1:2010(E)ISO 2010INTERNATIONAL STANDARD ISO12188-1First edition2010-03-15Tractors and machinery for agr

5、iculture and forestry Test procedures for positioning and guidance systems in agriculture Part 1: Dynamic testing of satellite-based positioning devices Tracteurs et matriels agricoles et forestiers Modes opratoires dessai des systmes de positionnement et de guidage utiliss en agriculture Partie 1:

6、Essai dynamique des dispositifs de positionnement par satellite BS ISO 12188-1:2010ISO 12188-1:2010(E) PDF disclaimer This PDF file may contain embedded typefaces. In accordance with Adobes licensing policy, this file may be printed or viewed but shall not be edited unless the typefaces which are em

7、bedded are licensed to and installed on the computer performing the editing. In downloading this file, parties accept therein the responsibility of not infringing Adobes licensing policy. The ISO Central Secretariat accepts no liability in this area. Adobe is a trademark of Adobe Systems Incorporate

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9、oblem relating to it is found, please inform the Central Secretariat at the address given below. COPYRIGHT PROTECTED DOCUMENT ISO 2010 All 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, inc

10、luding photocopying 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 office Case postale 56 CH-1211 Geneva 20 Tel. + 41 22 749 01 11 Fax + 41 22 749 09 47 E-mail copyrightiso.org Web www.iso.org Publi

11、shed in Switzerland ii ISO 2010 All rights reservedBS ISO 12188-1:2010ISO 12188-1:2010(E) ISO 2010 All rights reserved iiiContents Page Foreword iv Introduction.v 1 Scope1 2 Terms and definitions .1 2.1 General terms related to positioning device testing .1 2.2 Terms describing position accuracy and

12、 error measurements .2 3 Requirements.3 3.1 General .3 3.2 Horizontal positioning test .4 3.3 Dynamic signal reacquisition test .4 4 Calculations and report 4 4.1 General .4 4.2 Positioning accuracies .5 4.3 Course-over-ground accuracy .6 4.4 Course latency.6 4.5 Speed accuracy .6 4.6 Latency .6 Ann

13、ex A (normative) Error and accuracy computation 7 Bibliography8 BS ISO 12188-1:2010ISO 12188-1:2010(E) iv ISO 2010 All rights reservedForeword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing In

14、ternational 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 represented on that committee. International organizations, governmental and non-governmental, in liaison

15、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 are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of techn

16、ical 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 International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn

17、 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 12188-1 was prepared by Technical Committee ISO/TC 23, Tractors and machinery for agriculture and forestry, Subcomm

18、ittee 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 systems in agriculture: Part 1: Dynamic testing of satellite-based positioning devices The follow

19、ing parts are under preparation: Part 2: Satellite-based auto-guidance systems tested during straight and level travel BS ISO 12188-1:2010ISO 12188-1:2010(E) ISO 2010 All rights reserved vIntroduction Satellite positioning devices have become more common in agricultural applications. They are not on

20、ly used as position sensors for georeferencing data or site-specific application tasks, but are also part of more complex navigation systems for agricultural machines. In the early stages of development of this part of ISO 12188, the only existing standards for satellite-based, positioning-device pe

21、rformance specification focused on the static accuracy of the device. There was no existing standard that adequately specified methods for testing or reporting the accuracy of the receivers while they are in motion. This part of ISO 12188 is intended to fill this void by providing a framework for te

22、sting receivers that are subject to the type of motion typically experienced by receivers used in agricultural field operations. It provides an implementable methodology for conducting the tests while still providing a means to equitably compare the performance of different satellite-based positioni

23、ng devices. BS ISO 12188-1:2010BS ISO 12188-1:2010INTERNATIONAL STANDARD ISO 12188-1:2010(E) ISO 2010 All rights reserved 1Tractors and machinery for agriculture and forestry Test procedures for positioning and guidance systems in agriculture Part 1: Dynamic testing of satellite-based positioning de

24、vices 1 Scope This part of ISO 12188 provides a procedure for evaluating and reporting the accuracy of navigation data determined using positioning devices that are based on GPS, GLONASS, Galileo or similar global navigation satellite systems (GNSS). It focuses on the performance of the positioning

25、devices while they are subject to motions typical of ground-based agricultural field operations and specifies common performance parameters that can be used to quantify and compare the dynamic performance of different positioning devices. 2 Terms and definitions For the purposes of this document, th

26、e following terms and definitions apply. 2.1 General terms related to positioning device testing 2.1.1 positioning device PD instrument that is capable of determining and reporting the position of its antenna centre point in geographic coordinates and in real time using satellite-based radio-navigat

27、ion signals 2.1.2 navigation data record NDR report of geographic coordinates, elevation, course, travel velocity and other navigation-related parameters computed by a PD 2.1.3 travel course TC predefined route of travel during the test 2.1.4 reference navigation system RNS fixture or measurement de

28、vice capable of either precisely controlling the path of the PD or recording the actual path that the PD traversed 2.1.5 geographic coordinates geographic latitude, longitude and elevation with respect to an internationally defined geodetic coordinate system BS ISO 12188-1:2010ISO 12188-1:2010(E) 2

29、ISO 2010 All rights reserved2.1.6 travel speed distance travelled in a unit of time NOTE Travel speed is expressed in metres per second. 2.1.7 course over ground horizontally projected direction of travel measured clockwise from true north, as defined by NMEA 0183 NOTE The projected direction of tra

30、vel is expressed in degrees. 2.1.8 time Universal Time Coordinated (UTC) with corresponding date, as defined by NMEA 0183 2.1.9 initialization time time elapsed between the point in time when the positioning device is powered and the beginning of the first test run 2.2 Terms describing position accu

31、racy and error measurements 2.2.1 off-track error perpendicular deviation from the actual travel course 2.2.2 horizontal position error horizontally projected deviation from absolute position NOTE This measurement does not include positioning device latency. 2.2.3 vertical position error vertically

32、projected deviation from absolute position 2.2.4 latency time between reception of satellite signals at the antenna and transmission of the first character or message of the NDR 2.2.5 absolute horizontal vertical positioning accuracy extent to which an NDR conforms to RNS data 2.2.6 relative horizon

33、tal vertical positioning accuracy extent to which an NDR conforms to other NDRs from the same PD at the same location at different times 2.2.7 short-term dynamic accuracy short-term dynamic performance determined from off-track errors along straight segment passes occurring within a 15 min time fram

34、e NOTE Short-term dynamic accuracy is similar to what is commonly called pass-to-pass accuracy. BS ISO 12188-1:2010ISO 12188-1:2010(E) ISO 2010 All rights reserved 32.2.8 long-term dynamic accuracy dynamic performance determined from off-track errors along straight segment passes occurring within a

35、time period of not less than 24 h 2.2.9 U-turn accuracy dynamic performance determined from off-track errors occurring during traverse of a 180 turn 3 Requirements 3.1 General The following applies for testing. a) The travel course (TC) shall include at least two straight segments and a U-turn segme

36、nt. The straight segments shall be at least 90 m long and shall be oriented between 35 and 55 from true north. The U-turn shall traverse 180 at a constant radius of turn between 5 m and 10 m and shall connect directly at either end to straight segments. The course shall have a change in elevation no

37、 greater than 1 m. There shall be no obstructions visible from any point on the test course, at an elevation of the PD antennae higher than 10 above a horizontal horizon, that interfere with or block satellite signals. There shall be no metallic or other surfaces within 50 m of the course that could

38、 cause multipath interference. Course location and geometry shall be documented with appropriate detail to allow exact replication. b) Before the initialization time begins, all firmware and user-configurable settings on the PD shall be reset to default. Changes to user-configurable settings are per

39、mitted after this reset; they shall be made before the initialization period and shall not be altered throughout the entire test. All device settings shall be explicitly documented. NOTE User-configurable settings include, but are not limited to, firmware version, differential correction services an

40、d settings, mask angle, enabled filters, output data format, and other device-specific parameters. c) NDRs shall be logged at the maximum rate facilitated by the PD and shall include at least the date, time, position, elevation, geoidal separation, speed, course over ground, number of satellites, co

41、rrection status, and satellite constellation configuration. All receiver outputs shall be described and documented clearly. The PD output port and data communication protocol used shall also be documented clearly. NOTE The satellite constellation configuration can be quantified by the horizontal dil

42、ution of precision (HDOP). d) The RNS shall have sufficient absolute position accuracy and data output rate to produce reference navigation data that are at least an order of magnitude (10 times) more accurate than the tested PD anywhere along the TC. Reference navigation data shall be synchronized

43、with the PD output to 1 m/s uncertainty. The specifications of the RNS shall be reported and any interpolation or other computational techniques used to calculate the actual TC shall be clearly documented. Reference measurement devices are not limited to satellite-based equipment. e) When conducting

44、 tests on a non-fixed course, the test course shall be replicated during each pass by the carrying vehicle with a deviation of less than 1 m. f) During all tests an independent tool shall be used to record actual (not predicted) satellite signal and constellation parameters such as satellite visibil

45、ity, configuration and signal quality for the test location and time. In addition to graphs of critical parameters, the report shall include mean, minimum and maximum values for numerical parameters. BS ISO 12188-1:2010ISO 12188-1:2010(E) 4 ISO 2010 All rights reserved3.2 Horizontal positioning test

46、 3.2.1 Initialization time The initialization time for the PD shall be recommended by the PD manufacturer. The actual initialization time used during the test shall be reported to the nearest 5 min increment. The PD shall remain static during this initialization time. 3.2.2 Date and time recording T

47、he date and time at the start and end of each test run shall be recorded. 3.2.3 Conduction of test runs The test shall be conducted in 1 h time blocks called test runs. During each test run, the PD shall be traversed continually around the TC at a single speed and direction. Test runs shall be condu

48、cted at travel speeds of (0,1 0,05) m/s, (2,5 0,2) m/s and (5,0 0,2) m/s. At the lowest travel speed, it is permissible to accelerate the receiver on turns between straight segments to ensure ample data collection on straight segments within the allotted time block. Each combination of speed and dir

49、ection shall be tested four times, resulting in 24 total test runs. All test runs shall be completed within a 25 h time period (a few minutes are necessary between tests to adjust or maintain the test apparatus or carrier vehicle). 3.3 Dynamic signal reacquisition test 3.3.1 Purpose of dynamic signal reacquisition test The purpose of the dynamic signal reacquisition test is to evaluate the PDs ability to reacquire signals and begin transmitting NDRs after a loss of signal. Since this loss of signal is more comm