Comparative Appraisal of Three Low-Cost GPS Speed Sensors with Different Data Update Frequencies

Stride frequency derived from GPS speed fluctuations in galloping horses

Changes in gallop stride parameters prior to injury have been documented previously in Thoroughbred racehorses. Validating solutions for quantification of fundamental stride parameters is important for large scale studies investigating injury related factors. This study describes a fast Fourier transformation-based method for extracting stride frequency (SF) values from speed fluctuations recorded with a standalone GPS-logger suitable for galloping horses. Limits of agreement with SF values derived from inertial measurement unit (IMU) pitch data are presented. Twelve Thoroughbred horses were instrumented with a GPS-logger (Vbox sport, Racelogic, 10 Hz samplerate) and a IMU-logger (Xsens DOT, Xsens, 120 Hz samplerate), both attached to the saddlecloth in the midline caudal to the saddle and time synchronized by minimizing root mean square error between differentiated GPS and IMU heading. Each horse performed three gallop trials with a target speed of 36miles per hour (16.1 ms^-1) on a dirt racetrack. Average speed was 16.48 ms^-1 ranging from 16.1 to 17.4 ms^-1 between horses. Limits of agreement between GPS- and IMU-derived SF had a bias of 0.0032 Hz and a sample-by-sample precision of +/-0.027 Hz calculated over N = 2196 values. The stride length uncertainty related to the trial-by-trial SF precision of 0.0091 Hz achieved across 100 m gallop sections is smaller than the 10 cm decrease in stride length that has been associated with an increased risk of musculoskeletal injury. This suggests that the described method is suitable for calculating fundamental stride parameters in the context of injury prevention in galloping horses.

A Low-Cost Global Navigation Satellite System Positioning Accuracy Assessment Method for Agricultural Machinery

The high-precision positioning and navigation of agricultural machinery represent a backbone for precision agriculture, while its worldwide implementation is in rapid growth. Previous studies improved low-cost global navigation satellite system (GNSS) hardware solutions and fused GNSS data with complementary sources, but there is still no affordable and flexible framework for positioning accuracy assessment of agricultural machinery. Such a low-cost method was proposed in this study, simulating the actual movement of the agricultural machinery during agrotechnical operations. Four of the most commonly used GNSS corrections in Croatia were evaluated in two repetitions: Croatian Positioning System (CROPOS), individual base station, Satellite-based Augmentation Systems (SBASs), and an absolute positioning method using a smartphone. CROPOS and base station produced the highest mean GNSS positioning accuracy of 2.4 and 2.9 cm, respectively, but both of these corrections produced lower accuracy than declared. All evaluated corrections produced significantly different median values in two repetitions, representing inconsistency of the positioning accuracy regarding field conditions. While the proposed method allowed flexible and effective application in the field, future studies will be directed towards the reduction of the operator’s subjective impact, mainly by implementing autosteering solutions in agricultural machinery.