The speed sprayer is an agricultural vehicle that performs the spraying task to prevent the damages by harmful insects. However, safety accidents such as pesticide damage and rollover accidents are occurred during the spraying task. To overcome the lack of labor and the exposure to hazardous pesticides, various studies related on the development of autonomous driving speed sprayers have been conducted in Korea. However, an autonomous driving speed sprayer is not yet commercially available in Korea since of using expensive sensors as compared to the price of speed sprayer. Currently, advances in GNSS positioning technique and the operation of the BeiDou Navigation Satellite System have led to the development of a low-cost single-frequency GNSS-RTK which the positioning performance similar to multi-frequency GNSS-RTK. Moreover, the GNSS signal environment is improved in orchard as the passage between fruit trees became wider due to mechanization of farming. Therefore, in order to commercialize an autonomous driving speed sprayer, this paper aim to examine autonomous driving performance using a low-cost single-frequency GNSS-RTK developed.

Keywords: single-frequency GNSS-RTK, autonomous driving, speed sprayer