BR102014011793A2 - embedded navigation, control and guidance system - Google Patents

Abstract

abstract “embedded navigation, control and guidance system for agricultural use”, particularly an embedded control system for automating the pesticide application process through the use of agricultural aircraft. in general terms, the system consists of a tablet pc (10c) where it is possible to manage the digital mapping of the application's focus area, an automation equipment that performs the reading of the flow through a turbine or magnetic sensor, and the control two valves, one for fine adjustment of the flow and the other for starting and stopping the application, and a lightbar guidance device to provide the displacement of the center of the application range and the entrance angle of an application range. the system has the following functions: step-by-step configuration system, definition of different areas, customization, report generation, route planning and hardware in the form of a tablet pc (20c) – light bar; hardware (20) with the following functions: flow adjustment system; hardware (30) with the following functions: physical guidance system - light bars -, sealing, present in the embedded system (10) (software/hardware), (20) (hardware), (30) (hardware), (70 ) (hardware) and (80) (hardware), the latter hardware flux – digital flowmeter - and flux ii – digital flowmeter for semi-automatic control; this platform is integrated with the new algorithm (1) pid with prediction, for controlling valves (40) and (50) based on parameters obtained.

Description

“EMBEDDED AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” BRIEF PRESENTATION [0001] This patent application is filed for an “AEROGRAPHIC NAVIGATION, CONTROL AND GUIDANCE SYSTEM”, particularly of an embedded control system for automation of the pesticide application process through the use of agricultural aircraft. In general, the system consists of a tablet PC where it is possible to manage the digital mapping of the application focus area, an automation equipment that reads the flow through a turbine or magnetic sensor, and the control of two valves. , one for fine-tuning the flow and one for starting and ending the application and lightbar guidance equipment to provide the displacement of the center of the application range and the entry angle of an application range.

FIELD OF APPLICATION The system object of this patent application has main application in the agricultural area for dispersion of liquids such as: pesticides, fertilizers or inputs. Its application is preferably focused on agricultural aircraft, and may also have its use extended to small, medium and large tractors, control of illegal plantations, firefighting and application of biological inputs (solid or liquid).

BACKGROUND ART One of the main challenges facing world agriculture today is the promotion of the optimal economic, social, environmental and security balance. With the development of precision agriculture, electronic navigation systems embedded in land and air vehicles (self-propelled, agricultural aircraft and others) have become increasingly adopted and indispensable equipment. Although there are other satellite navigation systems (eg Galileo - European system, Glonass - Russian system, etc.), most receivers of such equipment use the US Global Positioning System (GPS). However, the Brazilian market still contrasts with the evolution set forth through a paradigm in the process of applying pesticides through agricultural aviation: the manual control and actuation procedure. [0004] The current application process, in its most intuitive form, is accomplished by flying an aircraft over parallel and wind perpendicular bands to ensure full coverage of the desired area, including one or more passages over the according to the characteristics and needs of each crop. Traditionally, in the application procedure of this process purely mechanical components are used, where the manual activation of the expansion valve (opening valve) by the pilot marks the beginning and the interruption between each application range. In addition, the pilot must record on the joystick, along with the manual drives, the application data in a navigation system to generate a digital coverage report (procedure known as “shooting”), in addition to commanding the guidance and operation. of the aircraft. On a flight 3 to 6 meters above ground, the operation requires very high attention and skill. The result of this process is an inaccurate and non-homogeneous application that, in addition to waste, can generate the accumulation of pesticides causing contamination of water sources and pest resistance. This still results in an inefficient and per pass application. In order to better define the state of the art conditions attached, the attached Figure 1 illustrates a liquid application route by an agricultural aircraft (A), in which line (L) delimits the boundaries of the area to be covered. , line (L1) illustrates the aircraft's route to cover the demarcated area, lanes (L2) indicate application of the pesticide, and points (L3) are the pilot's registration points for digital report generation, or “shot " Carrying this analysis into the aircraft, there is, in Figure 2, the circle (C1) illustrating the manual expansion valve actuator ("position locking lever") and the circle (C2 ) illustrating the joystick handle for marking the digital report according to the beginning and end of the application range.

ART STATUS AND EVOLUTION It is a fact that increasing efficiency and productivity to reduce costs and environmental impacts are long-known concerns in the world agricultural aviation market. In the domestic market, the increasing pressure from farmers for more efficient application processes through agricultural aviation has contributed to the depositor, through the legal entity under his direction, being a new entrant with his products. In this context, the automation of application processes through GPS navigation systems has been presented as an inevitable solution to tackle these problems and is now becoming indispensable for the maintenance of lower costs for service providers and increased agricultural competitiveness. for Brazilian producers in the global market. Meanwhile, the high costs and inadequate solutions of competing imported equipment are still barriers in the domestic agricultural aviation market. Evolution does not occur at the same speed, where not only costs and solutions, but also aircraft certification processes have inhibited initiatives and innovations from being incorporated and developed with a focus on the domestic market. Thus, within the state of the art evolution line, it will be defined in two blocks. The first is the “state of knowledge”, where some reference articles will be presented in the area and the second is the “state of the art” itself, where the solutions made available by manufacturers to try to serve the national market, based on applications in other geographic regions of the planet. Finally, a brief comparative summary will be presented between the current state of competitors and the innovations and benefits of the system object of the present invention, in order to demonstrate the differentiation and evolution intrinsic to the invention. - State of knowledge The process of applying pesticides is multidisciplinary, involving, among others, the type and accuracy of the equipment to be used, the availability of sensors and actuators, booms and spray nozzles. Although the selection is not exhaustive and aware that there are other works related to the disciplines of the area, this subitem will present two important academic reference works to demonstrate the “state of knowledge” focusing on equipment and studies to automate the process. application. This patent does not consider studies related to nozzles, bars and drift analysis in the application processes. In one of the first works in the area in Brazil and, due to the lack of information about the effectiveness of this equipment at the time, MOLIN developed in 1998 a methodology to measure the accuracy of two guidance systems used in agricultural aircraft: flags and DGPS. The objective of this work was the realization of real field tests using, in the same area, the two orientation systems. As a result, it was shown that the methodology was adequate for the measurement and analysis of error in the routes of the agricultural aircraft. Maintaining alignment and spreading of bandwidth errors, errors between passes as well as accumulated errors were considerably smaller through the use of DGPS. A cumulative average error of 9.71 m with the use of the flag system and 0.93 m with the use of DGPS was reported. This work has remained as a reference for the market until today by the proposition of paradigm shift at the time. Also in 2009, some relevant websites in Brazil refer to this article. In short, the use of electronic equipment is essential for maintaining lower costs. [2000] In 2000, SMITH evaluated two versions of automatic flow control systems available from AUTO CONTROL INC. (no longer in the aviation market) available for the Air Tractor 402 aircraft. The first version, called AutoCal I, performed flow control directly by adjusting the expansion valve (shut-off valve), while in the In the second version, called AutoCal II, flow control is performed indirectly by adjusting a bypass valve. Given this analysis, it was presented that the average error with the AutoCal I system ranged from 0.64% to 1.60%. With the AutoCal I system, error generally increased with application rate and number of passes. The same behavior was not verified with AutoCal II. The results show that the control performed by the bypass valve (AutoCal II) results in a smaller number of passes to cover the area. - State of the Art [0016] The main manufacturers were identified in order to situate the proposal in relation to the state of the art. Essentially, two international manufacturers are cited: HEMISPHERE GPS and AGNAV. HEMISPHERE GPS is a company established since 1990 in the North American market. Acquired the company Del Norte in 2006, merging knowledge of equipment used in agricultural aviation with Satloc equipment to found the company's “Air” currency. It sells Sattloc M3 equipment, the most used in Brazilian agricultural aircraft and more recently Air IntelliStar and Intelliflow equipment, products that operate in the same segment as the subject of this patent application. [0018] AGNAV is a Canadian company, founded in 2000, from Picodas Group Inc. Picodas was a geophysical equipment manufacturer founded in 1985 with the goal of developing GPS-based equipment used in exploration applications. oil and mineral. He currently marketed GPS equipment for various areas, including AGNav-Guide and AG-Flow for agricultural aviation, also within the same system segment employed in the present invention. With regard to HEMISPHERE's Air Intellistar equipment, which is a navigation and guidance system, the following characteristics are listed: - large number of components; - Operation and manuals in a foreign language, which, in the case of Brazil, creates difficulties; - heavy components not suited to national and other countries' reality; - product difficult to operate and understand; - excessive weight (12 kg); and - very high selling price (approximately R $ 45,000.00). Intelliflow Control System equipment from the same company HEMISPHERE has the following characteristics: - large number of components; - poor integration (no bypass valve); - heavy components not suited to national and other countries' reality; - Operation and manuals in a foreign language, which, in the case of Brazil, creates difficulties; - does not perform standalone applications, considering the iterativity and in-place planning of the tablet PC; - excessive weight (14 kg); and - Very high selling price (approximately R $ 30,000.00). Canadian company AGNAV presents Guia-Air - Navigation and Guidance System - with the following characteristics: - reduced number of components; - is not robust; - Operation and manuals in foreign language, which, in the case of Brazil and other countries, brings difficulties; - non intuitive operation; - reduced weight (8 kg); and - high selling price (approximately R $ 35,000.00). The other equipment, from the same company AGNAV, is the AG-FLOW control system - with the following characteristics: - reduced number of components; - moderate integration (no bypass valve); - more optimized components, but not enough to meet the needs of national reality and other countries; - Operation and manuals in foreign language, which, in the case of Brazil and other countries, brings difficulties; - performs automatic applications with restrictions; - low but still relevant weight (9 kg); and - high selling price (approximately R $ 25,000.00). Concerning HEMISPHERE INTELLIFLOW equipment, it is equipment which, integrated with the company's compatible navigation equipment, allows spraying at constant and variable rates, as well as the possibility of enabling two different applications at the same time. It consists of a flow meter, a motor mounted valve and a controller. The device can be used for one or two different applications at the same time with the M3 navigation device (company control compatible line - 'M3 Controller1'). In a preferred embodiment the equipment does not disclose in the system the bypass valve for integration. Concerning AGNAV AG-FLOW equipment, this is intended to control the application of pesticides. Once integrated with the AGNAV-Guide (company navigation equipment) it allows spraying at constant and variable rates, optional for opening and closing the semi-automatic valve. With a similar connection scheme to INTELLIFLOW, this system differs in that the flow sensor and expansion valve are all in one set. This solution also does not consider an integrated bypass valve.

PROBLEMS INHERENT CURRENT TECHNIQUES The two basic problems faced by agriculture are inaccuracy and low efficiency, which generate waste and consequently decrease the profitability of the entire chain. The problem begins when, in order to ensure 100% coverage of the area to be sprayed, the aircraft must follow a predetermined route by applying the pesticide or input beyond the area boundary or overlapping range. Because this is a manual and visual process, over-coverage is the only way to ensure complete coverage. Pesticides and fuel are sacrificed in exchange for the certainty of no flaws in the applied area. Added to this is the fact that adjacent crops with different crops are contaminated with pesticides not appropriate to that destination. On the other hand, the application of pesticides on deforested areas or the unnecessary accumulation due to the low efficiency generates contamination of the soil and water sources, since the excess is quickly absorbed, reaching the underground water tables. Financial waste is now also becoming a clear ecological problem. In parallel, any variations in airplane speed, whether by pilot's command or even by wind action, directly reflect the efficiency of the application. This feature causes some areas in the coverage area to be over-covered, while others receive under-coverage. Areas identified as faulty or with low application should be portrayed. The application process should be repeated more than once according to the phenological stage of the plantation and the type and amount of infestation evidenced. Therefore, any rework results in more operating, fuel and pesticide expenses, without considering the increased risk of water source contamination.

ANALYSIS OF THE INVENTION FROM A BRIEF COMPARATIVE WITH CURRENT TECHNIQUES [0029] Scale agriculture in the current scenario is dependent on the use of technology to gauge precision in pesticide and input applications. Large planting areas require uniform application of these products through the use of specialized machinery such as spraying vehicles or agricultural airplanes, the traditional manual process not being feasible, such is the vastness of the application area. [0031] The advent of global positioning receivers (GPS) has come to give higher precision to the procedure through the planning, monitoring and guidance of the driver or pilot over the application area and, after the procedure is completed, evaluation by the engineer. agronomist of the result obtained through generated reports. For a successful outcome, a robust, accurate and fast computing system is needed that assists in planning and especially process monitoring. The environment in which it applies requires fault tolerant, rugged and superior durability equipment. [0033] It is also well known that good equipment-aided planning considerably reduces fuel consumption and application failure areas by anticipating best routes, optimal curves and relevant factors such as weather conditions, speed, soil height, slope, permeability, weight and drop size of the input, among others. Considering the large number of variables involved in the calculation process with greater precision, the need for modern, accurate and more computational equipment is evident, which makes the whole process more efficient. While current equipment solves the problem, it is common for its manufacture to exceed ten years of age, which in terms of technology represents an exaggerated survival. The agronomic techniques and the calculation algorithms implemented in them date from their first implementation, having been surpassed by more modern techniques over the product's lifetime, while the equipment itself, due to technological evolution, has limitations in terms of computational speed and application of new techniques in the agricultural context in the state of the art. The maintenance of these units is costly and slow due to the archaic computational program development processes and the adaptation of these programs to the individual reality of each user (customization) is impracticable using this development approach. The present invention relates to systems and equipment used in the semi-automatic and automatic automation of the process of applying defensive liquid inputs, mainly but not restricted to pest control through agricultural aviation. [0037] The present invention utilizes computational technique to seek improvement in the overall efficiency of the integrated product providing automation of the pesticide application process. The way to achieve it was the modernization of the product in general, using modern techniques of computer development, combined with a rugged, latest generation tablet PC. It allows a differentiated approach in the implementation of more modern application techniques through digital maps obtained from Google Earth or specific satellite photos and, for the first time, adapting to the specific needs of each user in the Brazilian context, of each culture. Techniques include the most efficient digital route calculation, checkpoint definition, definition of danger and exclusion areas and full area mapping in digital format. In this way, the adversities presented in the state of the art are overcome and open possibilities for specific improvements and fine adjustments that allow the improved efficiency and automation of the application process, always ensuring the use of the most modern in terms of agronomic techniques specific to that one. culture. Thus, by comparing the technology of the present invention with the existing equipment already presented, the following differences are identified in the following items: applicability in national aircraft; communication interfaces; area analysis and integration with the control algorithm; weight and electromechanical integration: -Applicability on national aircraft: The practical problems of INTELLIFLOW are: - lack of specific support (time consuming and debilitated); - Need to adapt the aircraft to the equipment, not allowing direct use; and - aircraft recertification with each product version change. [0040] The practical problems of AG-FLOW are: - lack of specific support (time consuming and debilitated); - Need to adapt the aircraft to the equipment, not allowing direct use; and - aircraft recertification with each product version change. The embedded system object of the present invention has the following innovations with respect to this item: - focus on aircraft applied in agricultural aviation nationwide; and - especially focused development and restrictions on national agriculture, aimed at meeting unmet needs today and which are determinants of unsatisfactory performances. The resulting benefits are: - specific and fast support; - the product fits the aircraft and not the other way round; and - personalized service. - Communication Interfaces: INTELLIFLOW has the following Interface characteristics: - uses simple communication interfaces, for example, serial RS232; - there is no redundancy and robustness; - There is no standardization. The practical problems observed are as follows: - communication problems of flight modules; and - damage to grounded aircraft. [0045] AG-FLOW has the following interface characteristics: - uses simple communication interfaces, eg serial RS232. There is possibility of using CAN; - there is no redundancy and robustness; - There is no standardization. The practical problems observed are as follows: - communication problems of flight modules; and - damage to grounded aircraft. The embedded system object of the present invention has the following innovations with respect to this item: - implementation of redundancy and hardware and software fault tolerance techniques; - use of the Aeronautical CAN interface; and - protocol standardization (eg ISOBUS). The resulting benefits are: - reduction of unscheduled maintenance and equipment operating problems; - increased uninterrupted hours, reducing chain losses; and - greater support and availability of parts, including sensors, by standardization. - Area analysis and integration with the Control Algorithm: [0049] INTELLIFLOW has the following characteristics regarding this item: - no anticipated analysis of the in-stump application area; - dynamic coordinate demarcation of the application area (aircraft loaded with input); - use of pilot's practical experience to perform the work, only with the restriction of performance perpendicular to the wind direction; - the control loop does not allow data entry from the digital area; - allows prescription maps for variable rate applications only; - controls the rate set according to speed; and - does not allow automatic opening and closing, the pilot still participates in the process manually. The practical problems encountered are: - Dangerous operation, requires the attention of the pilot; - waste of fuel for demarcation of the area; - static ground analysis - changing wind direction at the time of application alters optimal coverage; - control not integrated and appropriate to the national reality; and - lack of efficiency and accuracy. [0051] AG-FLOW has the following characteristics with respect to this item: - no advance analysis of the on-site application area; - dynamic coordinate demarcation of the application area (aircraft loaded with input); - use of pilot's practical experience to perform the work, only with the restriction of performance perpendicular to the wind direction; - the control loop does not allow data entry from the digital area; and - allows semi-automatic opening and closing, but the pilot still participates in the process manually. Practical problems are: - Dangerous operation, requires the pilot's attention requirement; - waste of fuel for demarcation of the area; - static ground analysis - changing wind direction at the time of application alters optimal coverage; and - lack of efficiency and accuracy. The embedded system object of the present invention has the following innovations with respect to this item: - in the software employed in the embedded system the in-situ generation of a digital map directly in the equipment is allowed, delimiting the polygons of the area of application, exclusion and danger (satellite map or Google Earth) \ - the delimited digital coordinates (static demarcation) feed the algorithm input, along with the route to be followed (statistically calculated in on-site analysis); - Stimulation (dynamic correction) techniques for mitigating on-the-fly disturbances (eg change in wind direction) allow flight corrections; - Corrections according to temperature, pressure, speed and wind direction; - increased guiding accuracy; - no need to take off to define areas and routes; and - with digital mapping, application control can be performed 100% autonomously. The resulting benefits are: - increased application efficiency and accuracy of pesticide deposition; - shorter flight routes; - prior analysis, definition of application areas, exclusion and pre-flight danger; - saving at least 10% of pesticides and at least 5% of fuel; and - greater safety for the pilot, as the focus will only be on fulfilling the aircraft's route, guidance and piloting.

Weight and Electromechanical Integration: [0055] INTELLIFLOW has the following characteristics regarding this item: - excess of components; - non-integrated essential components; - complicated and costly installation; and - overweight (total 14 kg for single application option, excluding navigation equipment). The practical problems encountered are: - heavier aircraft; - costly components not suitable for the domestic market; - lower loading capacity with inputs; and - higher fuel consumption. [0057] AG-FLOW has the following characteristics regarding this item: - single bar; - some non-integrated essential components; - easy installation; and - reduced weight (total of 9 kg excluding navigation equipment). The practical problems encountered are: - heavier aircraft; - costly components not suitable for the domestic market; - lower loading capacity with inputs; and - higher fuel consumption. The embedded system object of the present invention has the following innovations with respect to this item: - expansion valve (open-close) for modular automatic control; - modular flow fine adjustment valve; - modular flow meter; and - controller that accepts data from digital areas as algorithm input. The resulting benefits are: - integration; - easy installation and maintenance; and - reduction of components and weight (total of 5 Kg -HW / SW / ELECTROMECHANICAL SYSTEM).

PROPOSALS AND OBJECTIVES OF THIS INVENTION To characterize the economic benefit and opportunity of the invention, soybeans are taken at 38% of 2010 agricultural production, ie: 23.3 million ha. Considering Folicur, one of the main fungicides used in this crop, with an average value of R $ 85.00 / liter and an application dosage of 0.5 liter / ha, a total market of approximately R $ 990 million is obtained. pesticide costs for the farmer. Additionally, considering a 25% commercially handled rate through agricultural aviation relative to other competing spraying means, a partial market for agrochemicals cost is estimated at R $ 247.5 million. In this context, the growing pressure from the farmer to the need for better results to compete in a globalized economy, the need to increase efficiency in its processes and the environmental legislation imposed by the foreign market are great drivers for the adoption of the system of the present invention. your product platform. [0062] It is an objective the direct savings of at least 10% of pesticides and the recurring savings of 5% of fuel as the new system. Below are the comparatives and the economic, environmental and safety benefits when using the system of the present invention in relation to the usual systems, from the example shown above, parameterizing fungicide and fuel: Economic Comparative: - Folicic fungicide.

Without the system of the present invention: R $ 247.5 million;

With the system of the present invention integrated: R $ 222.75 million. Economic benefit resulting from the present invention: reduction of 10%, ie R $ 24.75 million. - Fuel (Av-gas: Without the system of the present invention: R $ 285,00 per hour;

With the system of the present invention integrated: R $ 270.75 per hour. Economic benefit resulting from the present invention: 5% reduction, ie $ 14.25 per hour.

Environmental Comparative: - Agrochemical Defense Deposition: Without the system of the present invention: waste combined with a larger number of applications, promoting pollution of springs; With the system of the present invention integrated: economy coupled with fewer applications avoiding concentration and pollution of water sources. Environmental benefit resulting from the present invention: fewer applications, reduced concentration and pollution of water sources.

Safety comparison: - Application procedure and control: Without the system of the present invention: in addition to piloting, concentration is required in performing manual procedures; With the system of the present invention integrated: exclusive concentration on piloting the aircraft - autonomous procedure. Safety benefit resulting from the present invention: the pilot is only engaged in piloting the aircraft. Technically, the system object of the present invention of the technological evolution of embedded computers, specifically robust agricultural tablet PCs, as the basis for the development of more complex computer programs capable of assessing situations and parameters than existing products in At the time of their conception, they could not. The adoption of the most efficient and interactive, fast and robust tablets has enabled the use of modern computational development methodologies, such as specific frameworks for precision measurement of the GPS device, the use of object oriented programming languages, relational databases and simplified and easily assimilated operating interfaces, so that the maintenance of the logical part of the system has been considerably improved over state-of-the-art products. Changes and maintenance of the logical part, distributed to users through program updates, with the present invention are made in a short time and simplified, ensuring continuous product improvement. The measurement of distinct areas within the same physical rural property, implemented in the invention, allows for intelligent planning of the application process, defining different application patterns for each area individually, so that total operation planning is done. in order to improve the overall operation and not parts. The definition of such areas also allows the exclusion of areas that are not interesting for the application, so that the system also calculates based on these parameters optimized routes to achieve optimal coverage with the optimal route as well. [0074] The invention aims to provide a simplified configuration system through a series of consecutive screens in a step-by-step system in which the user must scroll through the above screens filling in values one at a time, avoiding errors of setting or not filling in the required data. The following screen will only be displayed when the current screen information has been filled in correctly, making erroneous operation impossible. [0075] Another object of the present invention is to raise the sturdiness standard presented by offering an equipment capable of more tolerating the hostility of the application environment. The development of the tablet PC takes into account calculated center of gravity to reduce vibrations and a sealed aeronautical aluminum case under standard 1P-67 that prevents corrosive inputs such as urea from entering sensitive parts of the equipment. The use of equipment with tolerance to industrial temperature allows its use to be less sensitive to the conditions of temperature, humidity and pressure, allowing to extend the working hours of the day or night, for application of inputs. It also aims to provide equipment that controls the input flow through the operation of an electromechanical expansion valve (open-close) and a fine-tuning valve that controls the flow of liquid input flow. Allows process control by using the pump brake instead of the valve in extreme cases. It also aims to provide equipment that can receive information provided by the operator about the crop situation at the time of application, such as wind direction and speed, temperature, relative humidity, and inform the operator of better settings of the application parameters for that moment. [0078] Another object of the invention is to provide equipment capable of utilizing georeferenced map imagery in conjunction with geographical location devices (GPS) for visually gauging relevant areas and elements presented to the operator during application. It also aims to provide a physical guidance equipment called a lightbar, which integrates with the system, and is responsible for guiding the pilot to the beginning and end of the lane, indication to maintain the correct “straight line” and entry angle. for the beginning of the dispersion of inputs. It also aims to offer an equipment capable of producing reports of the applications performed, making relevant calculations for the process measurement, such as total area traveled, total area sprayed, path traveled, total input consumed, operating time, among others. interesting statistics to track and relevant to the operator. Such reports may be customized by the operator himself in formats that are more convenient and logical for him to follow. The inclusion of logos, customer data, formatting and output file format were contemplated so that it is not necessary to manually summarize the information upon receipt. The report is issued by the equipment itself already in its final format. The final report can be sent via 3G cellular network to the operator base, which reduces the financial reception time by the service providers and allows the remote monitoring of the work to be performed. Thus, it aims to provide automatic or semi-automatic control equipment for motors and actuators that, integrated with other components, particularly software and hardware, allows the automation of the application process. It also aims to provide equipment that can collect relevant operating information and store it for later reference, either for performance evaluation or accident investigation purposes. The data collected includes, but is not limited to; height, speed, direction, vertical displacement, horizontal displacement, longitude and latitude positions, flow control valve condition, pilot or driver in operation, aircraft or vehicle in operation, fuel used, input used, number of hours of operation of that aircraft or vehicle, date and time of the event and last operations performed on the equipment. Finally, it aims to offer equipment that offers ease of configuration, use and modification of parameters (customization) specific to the culture to which it applies. The insertion of new techniques was contemplated, as well as the change of basic system parameters, such as colors, keywords, logos, system language, positioning, format and type of controls presented, as well as all information presented to the pilot. be changed by a single user with system administration powers, making the use and understanding of the system easier for the user. [0084] In a more complete version, for jobs that demand maximum accuracy under critical conditions, the equipment will be supplied in its full form, consisting of tablet PC, guiding lightbar, expansion valve (open-close), adjusting valve. flow rate, sensors, actuators and motors required for their operation. In a simplified version, for jobs that require less critical accuracy, the equipment will be supplied more economically, consisting of a FluX (Digital Flowmeter) unit and sensor for simple pilot flow indication or consisting of a Flux II ( Digital flow meter for semi-automatic control), expansion valve (open-close), fine-tuning flow valve, sensors, actuators and motors required for its operation. For other simpler situations where all the facilities offered by the most complete equipment are not required, versions of the equipment are provided which partially combine the above technologies. The novelty of the present invention is related to the combination of vehicle and aircraft assisted spraying technology with geographical location technology and the implementation in more modern computer systems which envision the application of recent input application techniques. and agronomic planning. In all versions, the aircraft or vehicle has the function of transporting the equipment, operator and inputs by or over the target application site. The electromechanical assembly, valves and application nozzles have the function of generating drops in a controlled manner, releasing them on the target for deposition through the action of gravity. Being equipped with flow control, it allows the spraying operation to be performed in constant correction adjustment improving the efficiency and precision of droplet deposition. The computer program present in the system is the holder of innovation in the form of planning, control, monitoring and execution of the application. It allows the delimitation of several different areas of application, the planning of optimal routes over these areas, which ensure full coverage with the shortest path, without sacrificing the safety of maneuvers, control based on data provided and / or collected concentration variation. of input dumped taking into account external factors such as speed, height and ambient temperature. Adjustments and fine adjustments of the system can be made by manual adjustment of the operator or automatically, following measurements of the position and geographical displacement (GPS) sensor and sensors present in the equipment, through a control center equipped with processors and algorithms. analysis and decision making, based on parameters known by the Input Application Technology. The equipment's durability allows it to operate for longer working hours on the same day and in harsh conditions, enabling it to operate longer days during the year.

ADVANTAGES OF THE INVENTION - greater fuel economy; - greater economy and efficiency of inputs; - more efficient planning and monitoring; - activity and usage logs; - more accurate logs in case of accidents; - Final reports straight from the device; - greater resistance to harsh environments; - longer durability; - greater flexibility of customization; - identification of distinct areas; - use of georeferenced map images; - automatic correction against changing external parameters such as speed and height; - remote monitoring of aircraft work; and - step by step system configuration.

DETAILED DESCRIPTION The invention will hereinafter be explained by reference to its systematic and constructive features, exemplary data being used for illustration and duly illustrated by the accompanying figures: Figure 1: illustrates a conventional liquid application route by an aircraft (A), where line (L) delimits the boundaries of the area to be covered, line (L1) illustrates the aircraft's route to cover the delimited area, lanes (L2) indicate the application of the pesticide and points (L3) are the registration points by the pilot for digital report generation, or “shot”;

Figure 2: illustrates the cockpit in an agricultural aircraft, with detail of the hand-operated device (C1) and joystick handle (C2), according to the state of the art;

Figure 3 illustrates an application route with area coverage using the new application process from the embedded system including the components according to the invention;

Figure 4 illustrates the schematic representation of an agricultural aircraft according to the invention;

Figure 5: illustrates a diagram showing the communication between the components shown in the previous figure;

Figure 6: physically illustrates some components shown in Figure 4;

Figure 7: Externally illustrates the hardware device FLuX - recording of values in L / min;

Figure 8: Externally illustrates the FLuX II hardware device, which displays the L / min., Km / h parameters, records whether the valve is open or closed and the GPS condition;

Figure 9: Shows a system architecture within the inventive scope illustrating its integration with platform components;

Figure 10: Shows a diagram with the predicted PID control algorithm, considering valve input and actuation data, for adjustment and open / close.

DETAILED DESCRIPTION [0092] The "EMERGENCY BOARDING NAVIGATION, CONTROL AND GUIDE SYSTEM", the subject of this patent application, is the interaction of a series of components, applied preferentially but not necessarily to an agricultural aircraft (A), to control two valves (40A) and (50A); The invention employs software (10A) integrated into an embedded navigation system (10) which includes the SONAR - Brazilian Navigation and Tracking Operation System and SENav - Embedded Navigation System, with the functions: step system step-by-step configuration, area definition, customization, reporting, route planning, and hardware in the form of a tablet PC; the hardware (20) having the following functions: flow adjustment system; hardware (30) having the following functions: physical guidance system - light bars - fence, present in the embedded system (10) (software / hardware), (20) (hardware), (30) (hardware), (70 ) (hardware) and (80) (hardware), these latest hardware FLuX - digital flow meter - and FLuX II - digital flow meter for semiautomatic control. This platform is integrated with the new prediction (1) PID algorithm. [0094] Figure 4 shows the schematic representation of an agricultural aircraft where the components are positioned: embedded SONaR software (10A), the SECa - Automatic Control Embedded System (20) hardware of the flow adjustment system; SEGui hardware - Embedded Guidance System (30) of the guidance system; the FLuX I (70) digital flow meter hardware; the FLuX II (80) semiautomatic digital flow meter hardware; furthermore, at the bottom of the aircraft, there is an expansion valve (open-close) (40) and a fine-tuning flow (50), a turbine / magnetic flow sensor (60), which are serially and serially connected. modular, there being communication between said (40), (50) and (60) with the hardware of (20) the flow adjustment system. Also shown is the spray bar (90) and GPS antenna (110). The hardware part of the embedded system 10 is represented by a tablet PC, that is where the SONaR software operates. [0095] Figure 5 shows, in block form, the embedded software (10A), hardware (20), (30), (70) and (80), and their interface between them, ie, valves. (40) (proportional flow adjustment) and (50) (expansion / open and close) with hardware (20) and flow sensor (60) / turbine / flow meter (hereinafter components 40, 50 and 60 may be called one of these terms) with hardware (70), with hardware (80) communicating with hardware (20). [0096] Figure 6 physically shows related components in part in Figure 4, (10B) being the screen representation of the embedded software (10A), while (20B) is the flow adjustment system in its physical constitution, ( 110) is the antenna and (30B) the also physical version of the guidance system (30). Figures 7 and 8 show, respectively, the external look of the hardware device (70) with indications of values in L / min (L1) and the semi-automatic control hardware device (80) with indications of L / min (L1), Km / h (L2), and valve condition (L3) and GPS (L4). Figure 9 shows a system architecture within the inventive scope, illustrating its integration with the platform components, where (10C) represents the SENav - Embedded Navigation System (10) tablet PC and the SONAR - Brazilian System software Navigation and Tracking (10A), where the GPS antenna (110) is connected to a GPS receiving unit (101), and is to an UP processing unit (102) and the UPWR power management unit ( 104) from the aircraft battery (12 / 24V), said UP processing unit (102) connects to the LCD + Touchscreen HMI block (103). The UP processing unit (102) (which can communicate directly with the power management unit (104)) communicates with the external interfaces (106) and the storage unit (105), which are still communicating with the unit. power management (104); external interfaces 106 communicate with CAN block 107 and RS232 108, the latter with output for debugging and testing. The CAN module (107) receives communication from the HMI LEDs module (120) and communicates with a hardware module (20) composed of the embedded HW / SW control unit (UC) and electromechanical system (UM) sensor and actuator where the block (21) is the UC embedded HW / SW, which communicates with the micromotor (22), motor (23) and turbine / flow sensor / flow meter (60); micromotor (22) communicates with flow adjustment valve (40), motor (23) with expansion valve (50) and HW / SW with turbine-type flow sensor (60), which has output to the spray bar. As shown in Figure 9, the hardware module 20 is in a preferred construction consisting of an embedded HW / SW control unit (UC) and a unit composed of the sensor and actuator electromechanical system (UM). Initially, the choice of processor to be used in (UC) should be guided by an ARM9 or 32-bit architecture. The ARM family processors are widely used and recognized in the market for the best cost / power, that is, they are processors that combine low cost performance and low consumption. [0101] The processor is intended to operate at a frequency of at least 200 MHz and to interface with DDR2 and / or DDR3 memories. This unit should operate with the Real-Time Executive Operating System for Multiprocessor Systems (RTEMS) adopted by the invention. RTEMS is an open-source OS and widely used by the international community in critical applications, especially in the space area. [0102] The unit (UM) consists of a flow adjusting valve (40) and expansion (open and close) valve (50) followed by the flow sensor connection (60), preferably but not necessarily in this sequence, unlike other state-of-the-art systems that use a single valve to fine tune flow and start / stop within a range of applications. [0103] The spray bar (90) which integrates the invention has been integrated with the new algorithm (1) and the platform components, being integrated to this bar the micromotor in (22) and the motor (23) as actuators. Also necessary is the instrumentation necessary for the control and determination of the start and end of the valve (50). The flow sensor or flow meter (60) is connected to the bar (90) after the expansion valve (50). [0104] The present invention, with the new platform and prediction PID algorithm (1), as shown in Figure 10, has as input the velocity data, flow data of the digital area to be covered and coverage system (ex. .: parallel lines). Figure 3 illustrates the area coverage using in the new application process, with the integration of components (10), (20) and (30). [0105] In Figure 3, for comparison with Figure 1 (conventional), line (L4) delimits the boundaries of the area to be covered, line (L5) illustrates the old aircraft route and line (L6) to new aircraft route using the invention and the new control algorithm. In contrast to the prior art application, the new algorithm (1) automatically determines the opening and closing of the expansion valve (50) identified at the new route intersection points (L7) with the area of ( L4), with greater precision and avoiding the waste illustrated by the strip (L8). Upon entry of the aircraft into the application range, the new algorithm (1) automatically performs fine control via the adjustment valve (40) according to the flow sensor (60) and velocity loop to maintain the same rate of application, and thus increased efficiency. [0106] As stated above, the solution adopted to solve the problem of agricultural process application automation is the PID (Proportional, Integral and Derivative) control algorithm presented in (1) which, in its original conception, is largely known in the state of the art of technical literature. [0107] In this invention, the PID algorithm (1) has been improved to incorporate prediction and early estimation of actuations, as well as operate from input and feedback of sensors data presented in (2) (GPS positioning data), ( 3) (GPS speed data), (4) (wind direction sensor data), (5) (digital gyro data), (6) (flow sensor data) and (7) (wind speed sensor data) Pressure Sensor). [0108] Thus, at each 5Hz cycle (with maximum actuation of 20Hz) the algorithm performs the calculations and presents the actuation for flow control through the proportional valve adjustment, presented in (40). From the calculated positioning within this cycle it is possible to open and close the open-close valve (50) automatically within the ranges defined by the SONaR software (10A) from the generated digital mapping. [0109] Currently control algorithms act on a single valve for flow adjustment and opening and closing of the same valve; In the present invention the two valves are controlled from the described parameters. The algorithms do not incorporate the correction from data from other sensors, according to the new SECa algorithm proposal. [0110] The result of using the new algorithm is a more efficient longitudinal and transverse application. In the current equipment configuration no transverse correction is possible due to the sensors configuration and the actuation of the equipment through single valve. Technically, the invention has important features, which must be fully understood. [0112] As for the SONaR software (present in embedded system 10), the following stand out as important to the enhanced performance of the invention: - Step by Step Configuration System: [0113] The Step by Step Configuration System consists of a sequence of screens. of configuration. Each screen is designed to contain the minimum required information to be entered by the user, and the next screen can only be accessed after the current one is correctly filled with data of the expected type. The final operation of the device can only be started after the completion of this step by step, having all the necessary data entered in the expected format. By spreading information across multiple screens, reducing data per screen reduces the chance of wrong data entry and / or non-data entry. Each control on each screen is validated with an expected type before acceptance and presentation of the next screen. The number of step-by-step screens is configurable, as is the information contained and expected in each. - Definition of Distinct Areas: [0114] The Definition of Distinct Areas is characterized by the collection of coordinates and the categorization of these coordinates into distinct sets (groups). Each of these sets is called an area, and is assigned a designation according to the type of application being performed. Depending on the designation given, different route handling is applied to that set of coordinates. For example, in a set of coordinates that show a spraying area, routes are drawn to be followed by the operator, while in a set of coordinates that define an area of danger and exclusion, routes are drawn to avoid circling over that region. - Customization: [0115] Customization refers to the ability of the system to be suitable and changed in all its parameters. All controls displayed on the system screens, their business rules, their outputs, inputs, data obligations or not, data types, colors, languages, text, positioning, functionality, size and orientation are described for simple and quick change of these. . - Reporting: [0116] Reporting follows the customization format described earlier. A basic format is provided with pseudo code snippets determining position, format, color, size and report data. When the report preparation begins, the pseudo code with the description of the characteristics is then compiled at runtime and the system uses the corresponding database calls to summarize and organize the required information. The output is then formatted to the desired output file type and recorded for later viewing. - Route Planning: [0117] Route planning takes into consideration the parameters bandwidth, coverage area, starting point, side and type of application. Once the coverage area is defined and the other parameters are chosen, the system starts a calculation of parallel lines with the distance of the bandwidth from each other in the direction of the chosen side. Calculating these lines, the organization of the order in which they will be traversed is determined by the type of application. For example, in the model known as 'Back to BacK', the vehicle must travel the straight lines sequentially, while in the model known as the 'carousel', the straight lines are traveled in the format: first, last, second, second to last, third, second to last , and so sequentially. Through this planning, the system can inform the base remotely via 3G network the current status and operating conditions of the aircraft in question. [0118] Regarding Hardware (present in embedded system 10) - SENaV, the following equipment stands out: - Tablet PC (10C): [0119] Is the item in which the software (10A) SONaR operates. It consists of a high-processing tablet PC with touchscreen and no buttons. [0120] Regarding Hardware (20) - SECa, the important performance of the invention stands out as important: - Flow Adjustment System: [0121] The Flow Adjustment System consists of a small turbine (flow sensor 60) and a micromotor controlled valve (22). When flowing through the turbine (60), the input rotates the turbine and the sensor connected to it performs the generation of pulses. By counting the number of pulses per minute that passes through the sensor, it is possible to calculate the volume of passing input. This information is then sent to the hardware (20) which compares the bypass volume with the required volume already calculated and acts with the micromotor (22) on the flow adjustment valve (40), increasing or decreasing the flow rate until it flows. find as close as possible to the calculated value. When using the automatic system and entering and leaving a range according to the area definition performed by the onboard system (10), the flow adjustment system opens or closes the valve (50) respectively. Hardware (30) The following stand out as important to the enhanced performance of the invention: - Physical Guidance System (Lightbar) (30B): [0123] The Physical Guidance System is a multi-diode bar. light emitting diodes (LEDs) (or array / display of LEDs) that light up and off in correspondence with the angle and distance that the vehicle or aircraft is on the optimal path. Configurable via system menu, you can adjust its brightness and its tolerance. Tolerance means the number of degrees (angle) and distance a lit LED will match. For example, when setting an LED to match the distance of two meters, having two LEDs lit to the right from the center, the indication corresponds to four meters to the left of the ideal line. The same logic applies to angle. - Sealing (present in items 10 - physical parts of the embedded system -, 20, 30, 70 and 80): [0124] The sealing of the waterproof housing is achieved by precise milling using single-block aluminum CNC lathes. where the onboard computer will be stowed. Precise fit and use of rubber rings and sealants ensures sealing. Housing connectors and accessions are protected with rubber rings and epoxy resin inside that prevent moisture and airborne inputs from entering. High strength adhesive tapes are used to secure the display and touch screen module, preventing moisture ingress and airborne inputs from the edges. [0125] Regarding Hardware (110) - Antenna - consists of an Active Antenna for GPS signal reception, or passive Antenna depending on the receiving unit. Regarding the Hardware (70) - FLuX, the following stands out as important to the potentialized performance of the invention: - Digital Flowmeter: [0127] Simply put, the digital flowmeter appears in item (60). Provides digital flow reading for flow identification in application. The equipment allows calibration of flow in flight or through static correction factor. It has a calculation rule based on speed (manual) in mph, application rate in liters per hectare and track width in meters for optimal flow identification that must be manually adjusted by the pilot. It has an application totalizer. It allows the adjustment of the screen brightness and the choice of four sensor types for four different flow ranges. [0128] As for Hardware (80) - FluX II, it stands out as important to the enhanced performance of the invention: - Digital flowmeter for semi-automatic control: [0129] Simply put, the digital flowmeter with GPS speed reader can be supplied in conjunction with items (20), (40), (50) and (60). Provides digital flow reading for application flow identification and aircraft speed reading in mph via GPS. It allows the electric opening of the open / close valve (50) by means of a trigger button on the aircraft joystick, where it was previously performed manually through item (70). In the present invention, this digital flow meter performs the control according to the aircraft speed variation through the flow adjustment valve (40). There is no route recording and effective integration with digital mapping, unique functionality of the hardware equipment that operates with the embedded system's SONaR software (10). The equipment allows calibration of flow in flight or through static correction factor. It has a calculation rule based on speed (manual) in mph, application rate in liters per hectare and bandwidth in meters for optimal flow identification that is controlled by hardware (20) and valve (40). It has an application totalizer. Allows adjustment of screen brightness and choice of four sensor types for four different flow rates.

Claims (22)

1) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM”, consists of the interaction of a series of components, applied to the agricultural control (A), in order to control in a modular way two valves (40) and (50); The invention employs an embedded system (10), namely software (10A) SONAR - Brazilian Navigation and Tracking Operation System and the SENav - Embedded Navigation System hardware, characterized by the following functions: step by step system of configuration, definition of separate areas, personalization, reporting, route planning, flight data recording, remote data transmission via 3G in the form of a tablet PC (10C); the hardware (20) having the following functions: flow control and adjustment system; hardware (30) having the following functions: physical guidance system (30B) - light bars - sealing, present in the embedded system (10) - software / hardware-, (20) - hardware-, (30) - hardware-, (70) -hardware - and (80) - hardware - these latest hardware FLuX - digital flow meter - and FLuX II - digital flow meter for semiautomatic control; This platform is integrated with the new prediction PID algorithm (1), control valves (40) and (50) from obtained parameters. 2) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claim 1, characterized in that the embedded system (10) comprises software (10A) and hardware (20), the latter of the flow adjustment system (20B); hardware (30) of the guiding system (30B); digital flow meter hardware (70); semiautomatic digital flow meter hardware (80). 3) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claim 1, characterized by having, at the bottom of the aircraft, valves (40) and (50), turbine / flow sensor (60 ), connected in series, with communication between said (40), (50) and (60) with the hardware (20) of the flow adjustment system (20B). 4) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDE SYSTEM” according to claim 1, characterized in that the hardware portion of the embedded system (10) is represented by a tablet PC (10C), where the SONaR software operates . 5) “Vessel Aeroagricult Navigation, Control and Guidance System” according to claim 1, characterized in that the hardware device (70) contains indications of L / min (L1) values and the hardware device for control semiautomatic (80) have L / min (L1) indications, mph and (L2) indications, as well as valve (L3) and GPS (L4) condition. 6) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claim 1, characterized by (10A) representing the embedded navigation system software (10) which includes SONAR - Brazilian Navigation and Navigation System. Tracking / SENAv, where the GPS antenna (110) is connected to a GPS receiving unit (101), and is to an UP processing unit (102) and the UPWR power management unit (104) from the aircraft battery (12 / 24V), said UP processing unit (102) connects to LCD + Touchscreen HMI block (103); the UP processing unit (102) communicates with the external interfaces (106) and the storage unit (105), which are still communicating with the power management unit (104); external interfaces 106 communicate with CAN block 107 and RS232 108, the latter with output for debugging and testing. 7) "Vessel Aeroagricult Navigation, Control and Guidance System" according to claim 1, characterized in that the CAN module (107) receives communication from the HMI LED module (120) and communicates with the hardware module (20). ) composed of the embedded HW / SW control unit (UC) and electromechanical system (UM) sensor and actuator, where the block (21) is the UC embedded HW / SW, which communicates with the micromotor (22), motor (23). ) and turbine / flow sensor / flow meter (60); the micromotor (22) communicates with the flow adjustment valve (40), the motor (23) with the expansion valve (50) and HW / SW with the flow meter (60), which has outlet to the spray bar . 8) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDE SYSTEM” according to claim 1, characterized in that the unit (UM) consists of an integrated bar with flow adjustment valve (40) and expansion valve - open and close - (50) followed by the flow sensor connection (60), allowing fine-tuning of the open and close flow rates within a range of applications. 9) "BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM" according to claim 1, characterized in that the spray bar (90) incorporating the invention is integrated with the new algorithm (1) and the platform components. The micromotor in (22) and the motor (23) as actuators being integrated into this bar, as well as the necessary instrumentation for the control and determination of valve start and stroke (50); The flow sensor or flow meter (60) is connected to the bar (90) after the expansion valve (50). 10) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claim 1, characterized in that the PID algorithm (1) incorporates prediction and early estimation of performances, as well as operating from data entry and feedback of sensors presented in (2) - GPS positioning data -, (3) - GPS speed data -, (4) - wind direction sensor data -, (5) - digital gyroscope data (6) - flow sensor data - and (7) - pressure sensor data. 11) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claims 1 and 10, CHARACTERIZED BY each 5Hz cycle - with maximum operation of 20Hz - the algorithm performs the calculations and displays the actuation for control. the flow rate by adjusting the proportional valve shown in (40); From the calculated positioning within this cycle, it is possible to open and close the open-close valve (50) automatically, within the ranges defined by the SONaR software, from the generated digital mapping. 12) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDE SYSTEM” according to claim 1, characterized in that the software (10) present in the embedded software contains a Step-by-Step Configuration system consisting of a sequence of configuration; each screen is designed to contain the minimum required information to be entered by the user, and the next screen can only be accessed after the current one is correctly filled with data of the expected type; The final operation of the device can only be started after the completion of this step by step, having all necessary data entered in the expected format. 13) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claims 1 and 12, characterized by that the software (10) present in the embedded software contains Defined Area Definition defined by the coordinate collection and the categorization thereof. coordinates in sets - groups - distinct; each of these sets is called an area, and is assigned a designation according to the type of application to be performed; Depending on the designation given, a different route handling is applied to that set of coordinates. 14) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claims 1 and 12, characterized by the software (10A) present in the embedded system (10) including Customization regarding the ability of the system to be appropriate and changed in all its parameters; thus, all controls displayed on the system screens, their business rules, their outputs, inputs, required or otherwise data, data types, colors, languages, text, positioning, functionality, size and orientation are described in pseudo code. , allowing simple and quick modification of these; The pseudo code with the feature description is then compiled at runtime and on the next system load, the new parameters will already be loaded. 15) "BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM" according to claims 1 and 12, characterized by the software (10A) present in the embedded system (10) including reporting, where a basic format is provided. pseudo code snippets determining position, format, color, size, and report data; When the report preparation begins, the pseudo code with the description of the features is then compiled at runtime and the system uses the corresponding database calls to summarize and organize the required information. The output is then formatted to the desired output file type and recorded for later viewing. 16) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claims 1 and 12, characterized by the software (10A) present in the embedded system (10) including route planning that takes into account the parameters bandwidth, coverage area, start point, side and type of application; Once the coverage area is defined and the other parameters are chosen, the system starts a calculation of parallel lines with the distance of the bandwidth from each other, in the direction of the chosen side and within the limits of the established areas - application area, danger. and exclusion calculated these lines, the organization of the order in which they will be traversed is determined by the type of application. 17) "BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDE SYSTEM" according to claim 1, characterized in that the embedded system hardware (20) (10) comprises a Flow Adjustment System consisting of a small turbine with a sensor. pulse generation, including flow meter (60), and a micromotor-controlled valve (22). 18) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claims 1 and 17, CHARACTERIZED BY, when flowing through the turbine (60), the input rotates therein and the sensor connected to it generates pulses. ; The number of pulses per minute is counted allowing the calculation of the volume of passing input; This information is then sent to the hardware (20) which compares the bypass volume with the required volume already calculated and acts with the micromotor (22) on the flow valve (40), increasing or decreasing the flow until it is found. as close as possible to the calculated value. 19) "Vessel Aeroagricultural Navigation, Control and Guidance System" according to claim 1, characterized in that the Hardware (30) comprises a Physical Guidance System (30B) composed of a bar with several light-emitting diodes (LEDs). ) that light and go out in correspondence with the angle and distance of the vehicle or aircraft from the ideal path. Configurable via system menu, you can adjust its brightness and its tolerance. 20) "Vessel Aeroagricultural Navigation, Control and Guidance System" according to Claim 1, Hardware Characterized (70) - FLuX, comprises digital flow meter (60), which provides digital flow reading for flow identification in application; Thus, the equipment allows calibration of the flow in flight or through static correction factor. Allows optimum calculation by setting speed in mph, application bandwidth and application rate; The equipment implements a totalizer for calculating and displaying the final amount applied. 21) “Vessel Aeroagricultural Navigation, Control and Guidance System” according to Claim 1, Hardware Characterized (80) - FluX II comprising a digital flowmeter for semi-automatic control with GPS speed reader can be supplied together with items (20), (40), (50) and (60); provides digital flow reading for identification of application quantity and aircraft speed reading via GPS; allows electric opening / closing / expansion valve (50) to be operated by trigger button on the aircraft joystick and fine adjustment of flow through adjustment valve (40); allows optimal calculation by setting speed in mph, application bandwidth and application rate; The equipment implements a totalizer for calculating and displaying the final amount applied. 22) “BOARDING AIRCRAFT NAVIGATION, CONTROL AND GUIDANCE SYSTEM” according to claim 1, characterized by an on-board software / hardware area differentiation system (10) via digital maps available on the Internet or customized photos .