Vol. 5 No. 5 (2026), Articles
Vol. 5 No. 5 (2026)

ANIQ DEHQONCHILIK TIZIMIDA GPS VA SENSOR TEXNOLOGIYALARIDAN FOYDALANIB QISHLOQ XO'JALIGI MASHINALARINING HARAKAT TRAYEKTORIYASINI OPTIMALLASHTIRISH

Articles
Published 2026-09-16
Yo‘ldoshev Oybek
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Keywords

aniq dehqonchilik, GPS, GNSS, RTK, IMU, sensorlarni integratsiyalash, Kalman filtri, trayektoriya optimallashtirish, avtomatik boshqarish tizimi, qoplama yo'lini rejalashtirish, nazoratli harakat dehqonchiligi (CTF).

Abstract

Maqolada aniq dehqonchilik (precision agriculture) tizimida qishloq xo'jaligi mashinalarining harakat trayektoriyasini optimallashtirishning zamonaviy ilmiy-texnik yondashuvlari tahlil qilingan. GPS/GNSS texnologiyasi, xususan real vaqt kinematikasi (RTK) usuli, hamda inersial o'lchov bloklari (IMU), g'ildirak burchagi va tezlik sensorlari asosida shakllantiriladigan sensorlarni integratsiyalash (sensor fusion) tizimlari ko'rib chiqilgan. Kalman filtri yordamida ma'lumotlarni birlashtirish usuli, shuningdek trayektoriyani rejalashtirishning grafik-qidiruv, optimallashtirishga asoslangan (TEB, DT-TEB, STOMP kabi) va qoplama yo'lini rejalashtirish (coverage path planning) algoritmlari ilmiy adabiyotlar asosida tahlil etilgan. O'tkazilgan tahlil shuni ko'rsatadiki, RTK-GNSS va IMU sensorlarini birlashtirilgan holda qo'llash mashina harakat trayektoriyasining yon (lateral) og'ishini bir necha santimetrgacha kamaytirish imkonini beradi, bu esa ekin ekish, o'g'itlash va boshqa dala ishlarida qatorlar oralig'idagi ortiqcha qoplanish va bo'sh qoldiqlarni minimallashtiradi, natijada resurs va yoqilg'i sarfi kamayadi. Maqolada, shuningdek, ushbu texnologiyalarni O'zbekiston sharoitida joriy etishning istiqbollari va amaliy muammolari muhokama qilingan.

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