THEORETICAL UNDERPINNING OF FIELDS MAPPING AUTOMATION FOR IMPROVEMENT OF THE WAY OF SOIL SAMPLIN

Abstract

The study objective – is the improvement of sampling of the soil by automation of field mapping. High labour and time requirements at all stages of performance study is the shortcoming of existing ways of soil sampling. In particu-lar, field mapping is carried out by both ways either geodetic methods and equipment, or Aerial Survey Cartog-raphy, however in all cases the analysis of data and work allotted to make quads in the field is carried out manually. Manual subjective correction of field mapping results is a disadvantage. The soil sampling way offered allows au-tomating this process, i.e. calculation of coordinates of quads, its entry and sampling points for robotics taking into account a field contour form parameters and a coordinate grid positioning, concentration of sampling points, a traffic route of robotic samplers between these points. The area of the field is divided into quads of correct (square or rec-tangular) or wrong (with the bent borders) forms in regard to this method. These quads are at the same time, cells of the coordinate grid put on the map of the field. Its parameters (a step and an azimuth) are set at the beginning of mapping. Coordinates of sampling points of the soil, on each quad, and a trajectory of their location, are determined taking into account a form of the concrete quad by the offered dependences. The offered way of sampling of the soil envisages the use of a special device for its implementation – the robotic sampler taking into account (in the course of mapping) coordinates estimated prior to the work start and its performance automatically. Field mapping and co-ordinates calculation of all critical points is to be carried out on the basis of the developed mathematical depend-ences and technological schemes automatically, using navigation systems of GLONASS or GPS standards.