Method of mapping droplet size of agricultural sprayers

Position-responsive control systems for agricultural sprayers which permit control of application rate and droplet size associated with prescription maps or spray zones of a field are known in the art. One such system is disclosed in U.S. Pat. No. 5,704,546 (hereafter “the '546 patent”), which is incorporated herein in its entirety by reference. As disclosed in the '546 patent, it is desirable to control application rates and droplet size to account for different soil types, crop conditions and density of weed or pest infestations which may vary across the field, while at the same time accounting for travel speed and environmental variables such wind speed, humidity and temperature, all of which can affect the uniformity and efficiency of the spray materials as applied to the intended soil or crop targets. Also as disclosed in the '546 patent, it is desirable to provide independent position-responsive control of individuals nozzles across the sprayer to regulate application rates and droplet size of individual nozzles to account for proximity to field boundaries and waterways which often have irregular boundaries and require different treatment to minimize spray drift or overspray.

While the position-responsive control system disclosed in the '546 patent may serve its intended purpose, the '546 patent does not disclose a system for creating a mapped record of the as-applied application rates or as-applied droplet size to the field. U.S. Pat. No. 5,884,205 (hereafter “the '205 patent”), incorporated herein in its entirety by reference, discloses a system for monitoring sections of the spray boom by providing a graphical representation on a display console which boom sections are “on” or “off” and to provide a map with an indication of what area of a surface was treated and with how much material, including monitoring the operation of the “fence row” nozzles with each fence row nozzle treated as a boom section. However, the '205 patent does not disclose mapping the as-applied application rate and droplet size of individual spray nozzles across the boom.

U.S. Patent Publication No. US2013/0105591 (hereafter “the '591 publication”), incorporated herein in its entirety by reference, discloses a system for controlling droplet size of the product applied to the field on a continuous or periodic basis based on weather and machine information. The '591 publication also discloses providing a real time graphical representation of a coverage map showing the area of the field covered with each pass of the sprayer and a graphical representation of the estimated drift plume of the sprayer based on weather and machine information. The '591 publication also discloses that the choice of optimal droplet size may be visually represented by changes on the display graphical representation of the drift plume, where the operator may obtain a visual confirmation of the appropriate droplet size by how it affects the drift plume. While the system disclosed in the '591 publication may serve its intended purposes, the '591 publication does not disclose mapping the as-applied application rate and droplet size of individual spray nozzles across the boom.

Applicant's previously owned U.S. application, U.S. Publication No. US2016/0183450, incorporated herein by reference in its entirety, and a commercial embodiment thereof marketed as FieldView®, previously available from Precision Planting LLC, 23207 Townline Road, Tremont, Illinois 61568, and now available from The Climate Corporation, discloses and provides a real-time, high definition seed planting map of each seed, seed skips, seed multiples and other operating and agronomic data which allows the operator to have complete real-time vision of the planter's operation and performance while planting and for later reference with other agricultural input maps and yield maps. No such system is available for sprayer operators and therefore there remains a need for a system for mapping as-applied application rates and droplet size of agricultural sprayers to allow the operator to have complete real-time vision of the sprayer's operation and performance while spraying and for later reference with other agricultural input and yield maps.

Overview

1 FIG. 10 100 200 Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,illustrates an embodiment of a sprayer implementalong with a schematically illustrated monitor systemwhich is in data communication with the sprayer controller.

10 12 14 16 14 12 10 12 20 14 20 20 200 200 The sprayer implementgenerally includes a holding tankand a spray boomextending transversely with respect to the direction of travel as indicated by arrow. The spray boommay be adapted to raise and lower with respect to the soil surface, to adjust boom pitch, and may fold and/or retract when being transported between fields. The tankholds the liquid product, such as pesticides, herbicides, fungicides, fertilizers and other chemical products, to be applied to the target soil or crop. As is known in the art, the implementincludes associated pumps, valves, manifolds, hoses or lines, actuators and pressure sensors (not shown) to cause the liquid product to be communicated from the holding tankto the plurality of nozzlessupported by and spaced along the transverse length of the boom. The nozzlesdeliver the liquid product to the target soil or crop as the sprayer implement traverses the field. The nozzlesare configured with orifices to create different spray patterns and droplet sizes. Additionally, as is well known in the art, the nozzles may be capable of automatic adjustment (via the controllerdiscussed below) to modify the droplet size by controlling the fluid pressure at the nozzle and/or the nozzles may be configured with mechanically or electrically actuated actuators which enable selection of different nozzle spray patterns and droplet sizes based on command signals generated by the controller.

200 10 200 200 200 200 200 100 The controllercontrols the operation of the sprayer implement. As is known in the art, the controllercommunicates command signals for actuation or control over the spray implement's various controllable devices, including the actuators, nozzle actuators, valves and/or valve actuators, solenoids, pumps, meters, boom height controls, boom pitch controls, boom section controls, etc. The controllermay be coupled to various sensors such as pump sensors, flow rate sensors, pressure sensors, boom height or boom pitch sensors, which provide machine operating parameters for control over the respective components. The controllermay be coupled to environmental sensors that detect weather conditions, such as wind speed, wind direction, ambient temperature, barometric pressure, humidity, etc. The weather information may be used to control boom height, flow rate, and droplet size to minimize spray drift. Alternatively, or in addition, the environmental sensors may be omitted and weather information received by the controllerand/or from third party weather sources or from field stations located in proximity to the field being treated or the weather information may be communicated to the controllervia the monitor system.

100 110 120 130 110 112 114 116 110 120 150 120 122 126 120 130 152 130 132 134 136 154 140 154 138 154 139 2 FIG. The monitor systemis schematically illustrated in more detail in, and may include a monitor device, a communication module, and a display device. The monitor devicemay include a graphical user interface (GUI), memory, and a central processing unit (CPU). The monitor deviceis in electrical communication with the communication modulevia a harness. The communication modulemay include an authentication chipand memory. The communication moduleis in electrical communication with the display devicevia a harness. The display devicemay include a GUI, memory, a CPUand a wireless Internet connection meansfor connecting to a “cloud” based storage server. One such wireless Internet connection meansmay comprise a cellular modem. Alternatively, the wireless Internet connection meansmay comprise a wireless adapterfor establishing an Internet connection via a wireless router.

130 130 130 137 137 132 130 135 135 134 140 130 131 The display devicemay be a consumer computing device or other multi-function computing device. The display devicemay include general purpose software including an Internet browser. The display devicealso may include a motion sensor, such as a gyroscope or accelerometer, and may use a signal generated by the motion sensorto determine a desired modification of the GUI. The display devicemay also include a digital camerawhereby pictures taken with the cameramay be associated with a global positioning system (GPS) position, stored in the memoryand transferred to the cloud storage server. The display devicemay also include a GPS receiver.

Monitor System Operation

7 FIG. 7 FIG. 2 FIG. 1 FIG. 100 1200 1205 120 120 190 110 122 190 126 120 130 190 120 191 130 130 110 130 120 In operation, referring to, the monitor systemmay carry out a process designated generally by reference numeral. Referring toin combination with, at step, the communication moduleperforms an optional authentication routine in which the communication modulereceives a first set of authentication datafrom the monitor deviceand the authentication chipcompares the authentication datato a key, token or code stored in the memoryof the communication moduleor which is transmitted from the display device. If the authentication datais correct, the communication modulepreferably transmits a second set of authentication datato the display devicesuch that the display devicepermits transfer of other data between the monitor deviceand the display devicevia the communication moduleas indicated in.

1210 110 112 112 132 130 166 20 10 110 188 130 120 1 FIG. At step, the monitor deviceaccepts configuration input entered by the user via the GUI. In some embodiments, the GUImay be omitted and configuration input may be entered by the user via the GUIof the display device. The configuration input may comprise parameters preferably including dimensional offsets between the GPS receiverand the spray nozzlesand the operating parameters of the sprayer(e.g., nozzle type, nozzle spray pattern, orifice size, etc.). The monitor devicethen transmits the resulting configuration datato the display devicevia the communication moduleas indicated in.

1212 130 186 140 186 130 186 132 130 186 110 185 110 120 At step, the display devicemay access prescription data filesfrom the cloud storage server. The prescription data filesmay include a file (e.g., a shape file) containing geographic boundaries (e.g., a field boundary) and relating geographic locations (e.g., GPS coordinates) to operating parameters (e.g., product application rates). The display devicemay allow the user to edit the prescription data fileusing the GUI. The display devicemay reconfigure the prescription data filefor use by the monitor deviceand transmits resulting prescription datato the monitor devicevia the communication module.

1214 10 110 198 200 198 At step, as the sprayer implementtraverses the field, the monitor devicesends command signalsto the sprayer controller. These command signalsmay include signals for controlling actuation of the pump, flow rate, line pressures, nozzle spray patterns, etc.

1215 10 110 181 166 200 110 181 114 110 182 130 120 182 At step, as the sprayertraverses the field, the monitor devicereceives raw as-applied dataincluding signals from the GPS receiverand operating parameters from the sprayer controller. The monitor devicepreferably processes the raw as-applied data, and stores the as-applied data to the memory. The monitor devicepreferably transmits processed as-applied datato the display devicevia the communication module. The processed as-applied datamay be streaming, piecewise, or partial data.

1220 130 182 134 1225 130 182 90 130 1230 130 1235 130 1225 134 1238 130 183 140 183 1240 110 114 At step, the display devicereceives and stores the live processed as-applied datain the memory. At step, the display devicerenders a map of the processed as-applied data(e.g., a spray rate map or droplet size map) as described more fully elsewhere herein. An interfaceallows the user to select which map is currently displayed on the screen of the display device. The map may include a set of application map images superimposed on an aerial image. At step, the display devicedisplays a numerical aggregation of as-applied data (e.g., spray rate by nozzle over the last 5 seconds). At step, the display devicepreferably stores the location, size and other display characteristics of the application map images rendered at stepin the memory. At step, after completing spraying operations, the display devicemay transmit the processed as-applied data fileto the cloud storage server. The processed as-applied data filemay be a complete file (e.g., a data file). At stepthe monitor devicemay store completed as-applied data (e.g., in a data file) in the memory.

Mapping and Display Methods

100 400 400 10 20 1 4 10 428 1 4 410 400 410 412 414 416 418 412 414 416 418 422 424 426 428 4 FIG. 4 FIG. The monitor systemmay display a droplet size mapas illustrated in. Theproduct application ratedroplet sizemapmay include a schematic representation of the location of the sprayerand its transversely spaced nozzles(e.g., spray nozzles-). It should be appreciated that many more nozzles may be displayed on theratedroplet sizemap than the four nozzles as depicted in, which is provided for illustration purposes only. As the sprayertraverses the field, a map block (e.g., map block) is placed in the location occupied by each spray nozzle-. The pattern, symbol or color of each map block corresponds to a legendpreferably displayed in the droplet size map. The legendpreferably includes a set of legend ranges (e.g., legend ranges,,,) including, for example, a pattern, symbol or color and a corresponding to droplet size (typically measured in microns). It should be appreciated that the legend ranges,,,correspond to map blocks,,,, respectively.

4 FIG. It should be appreciated, that the droplet size ranges may include more than the “Fine”, “Medium”, “Course”, “Very Course” ranges depicted in. For example, established droplet size ranges are published by numerous sources which identify droplet size categories including “Extremely Fine”, “Very Fine”, “Fine”, “Medium”, “Course”, “Very Course”, “Extremely Course”, and “Ultra Course”, with each droplet size category having an established range of droplet sizes measured in microns.

100 400 300 305 110 166 308 110 162 310 110 3 FIG. The monitor systemmay display theproduct application ratedroplet sizemapaccording to a process designated generally by reference numeralin. At step, the monitor devicerecords the position reported by the GPS receiverand determines the position of each nozzle. At step, the monitor devicesamples the pressure measured by the pressure sensorat the nozzle or in the line associated with the nozzle. At step, the monitor deviceuses the measured pressure sensor signal to derive the droplet size, using algorithms or lookup tables. The algorithms required to calculate droplet size and tables or graphs that identify droplet size for various nozzles at various pressures are well known and thus are not reproduced herein.

325 130 416 330 130 416 426 At stepthe display devicepreferably identifies the legend range corresponding to the derived droplet size (e.g., if the droplet size falls within the “Course” category, the display identifies legend range). At step, the display devicedisplays a map block corresponding to the identified droplet size (e.g., if the droplet size corresponding tois identified, map blockis displayed).

400 20 400 20 162 20 11 20 20 162 162 20 1 FIG.A In another embodiment, instead of mapping droplet sizefor each nozzle, droplet sizemay be mapped for a section of nozzles, such as when a pressure sensoris associated with a gang of nozzlesA as shown in. In such an embodiment, one line or hosemay supply a plurality of nozzlescomprising the gang of nozzlesA all connected to a pressure sensor. Alternatively, a plurality of pressure sensorsmay be averaged together to have a pressure and a resulting droplet size for a gang of nozzlesA.

100 500 500 10 20 1 4 10 522 1 4 510 500 510 512 514 516 512 514 516 512 514 516 522 524 526 500 580 3 500 10 522 10 5 FIG. 5 FIG. 5 FIG. 5 FIG. The monitor systemmay also display a product application rate mapan embodiment of which is illustrated in. The product application rate mappreferably includes a schematic representation of the location of the sprayerand its transversely-spaced nozzles(e.g., nozzles-). It should be appreciated that many more nozzles may be displayed on thedroplet sizeapplication ratemap than the four nozzles as depicted in, which is provided for illustration purposes only. As the sprayertraverses the field, a map block (e.g., map block) is placed in the location occupied by each nozzle-. The pattern, symbol or color of each map block corresponds to a legendpreferably displayed in the application rate map. The legendpreferably includes a set of legend ranges (e.g., legend ranges,,) including a pattern, symbol or color and a corresponding application rate range. It should be appreciated, that the application rate ranges may include more than the three ranges depicted in, which are provided for illustration purposes only. The legend ranges,,correspond to application rates as discussed below. It should be appreciated that the legend ranges,,correspond to map blocks,,, respectively. The application rate mapmay include an aggregate interfacedisplaying the aggregate application rate (e.g., the application rate over the last 5 seconds) by nozzle and may allow the user to select the nozzle (e.g., nozzlein) for which the aggregate application rate is displayed. The application rate mapmay display multiple direction images “D” indicating the direction of the sprayer. The direction images D may be superimposed over or adjacent to one or more map blocks (e.g., map block) and indicate the direction of the sprayerat the time the superimposed or adjacent map blocks were placed.

100 500 600 605 110 166 20 610 110 162 615 110 618 110 110 168 10 110 168 14 620 110 6 FIG. The monitor systemmay display the application rate mapaccording to an embodiment of a process designated generally by reference numeralin. At step, the monitor devicerecords the position reported by the GPS receiverand determines the position of each nozzle. At step, the monitor devicesamples the pressure measured by the pressure sensorat the nozzle or in the line associated with the nozzle at regular intervals (e.g., one-second intervals). At step, the monitor devicepreferably stores the time of corresponding pressure samples. At step, the monitor devicepreferably determines the nozzle velocity of each nozzle during the first interval (e.g., by averaging all nozzle velocity measurements during the first interval). In some embodiments, the monitor deviceassumes the velocity of each nozzle is equal to the speed along the direction of travel reported by a speed sensormounted to the sprayer. In other embodiments, the monitor devicecalculates a nozzle-specific velocity more accurately (e.g., when executing turns) using one or more speed sensorsmounted to the boom. At step, the monitor devicederives the as-applied application rate. The product application rate may be derived, using algorithms or lookup tables. The algorithms required to calculate application rates and tables or graphs that identify application rates for various nozzles at various pressures and speeds are well known and thus are not reproduced herein.

6 FIG. 625 130 166 630 130 166 Continuing to refer to, at stepthe display devicepreferably associates the first interval with a map area (e.g., using one or more positions reported by the GPS receiverduring the first interval). At step, the display devicepreferably determines the application rate map block to cover the map area associated with the first interval (e.g., a rectangle having a length corresponding to the positions reported by the GPS receiverat the beginning and end of the first interval, and having a width equal to the nozzle spacing). Thus it should be appreciated that for each nozzle, each interval is associated with a map block.

5 FIG. 5 FIG. 635 130 510 522 512 640 130 645 130 650 130 With reference to, it should be appreciated that the length of the application rate map blocks may vary depending on the nozzle velocity during each interval. At step, the display devicepreferably selects an application rate image characteristic (e.g., a pattern, symbol or color) based on the legend range in legendassociated with the application rate calculated for the first interval (e.g., application rate map blockhas a calculated application rate of 5 to 8 gallons per acre and thus has a pattern corresponding to legend range). At step, the display devicepreferably displays the application rate map block in the map area associated with the first interval. At step, the display devicedetermines the direction of implement travel during the first interval (e.g., by determining the direction of a line between the position during the first interval and the position during a prior interval). At stepthe display devicemay display an image (e.g., direction images D in) indicating the direction of travel. Each direction image may be superimposed over one or more application rate map blocks associated with the first interval. It should be appreciated that the direction images D assist the user in determining which nozzle sprayed an area when reviewing the map after spraying operations.

Linked Mapping Methods

1900 1905 130 1910 130 1915 130 1920 130 1925 130 1930 130 12 FIG. A process for displaying linked maps of agricultural data is illustrated generally by reference numeralin. At step, the display devicepreferably accesses aerial image map tiles corresponding to a location. At step, the display devicepreferably accesses first and second sets of agricultural data. Each set of agricultural data preferably comprises agricultural data associated with geo-referenced locations such that a spatial map may be generated therefrom. At step, the display devicepreferably generates a first map overlay corresponding to the first set of agricultural data and a second map overlay corresponding to the second set of agricultural data. At stepthe display devicepreferably displays a first map comprising the first map overlay, preferably superimposed over a first aerial image map. At stepthe display devicepreferably displays a second map comprising the second map overlay, preferably superimposed over a second aerial image map. The second map preferably has a view characteristic (e.g., orientation, scale, zoom level or center) equal to the same view characteristic of the first map. The second map preferably has multiple view characteristics equal to the same view characteristics of the first map. The second map is preferably at least partly disjoined from the first map (e.g., the second map may be displayed side-by-side with the first map). At step, the display devicepreferably displays a first annotation on the first map and a second annotation on the second map. Both the first annotation and second annotation preferably correspond to the same geo-referenced location such that a user may reference the annotation to visually determine corresponding locations on the first and second maps.

1900 1935 130 1940 130 130 Continuing to refer to the process, at stepthe display devicepreferably receives and implements a user command to apply a first modification to a view characteristic of the first map. In some embodiments the user command comprises a manipulation of a user interface displayed on the map (e.g., adjustment of a scale to adjust zoom level). In other embodiments the user command comprises a manipulation of a touch screen of the display (e.g., “pinching” the touch screen to adjust zoom level). At step, upon determining that a modification has been made to the first map, the display devicepreferably matches the visible area and zoom level of the second map to the visible area and zoom level of the first map. The display devicepreferably matches the visible area of the second map to the visible area the first map by determining the geo-referenced locations corresponding to a boundary of the first map and then re-drawing the second map such that a boundary of the second map corresponds to the same geo-referenced locations.

1940 130 In an alternative embodiment of step, the display deviceapplies a second modification to the second map corresponding to the first modification and preferably applies the second modification to the same view characteristic as the first modification. For example, if the first modification comprises rotation of the first map about a first angle, then the second modification preferably comprises rotation of the second map about the first angle.

1945 130 1950 130 At step, the display devicepreferably receives and implements a user command to apply a modification to a view characteristic of the second map. At step, upon determining that a modification has been made to the second map, the display devicepreferably matches the visible area and zoom level of the first map to the visible area and zoom level of the second map.

8 FIG. 1900 1500 1500 1550 1560 1550 1555 1522 1524 1526 10 1524 1500 1 4 1510 1550 1510 1512 1514 1516 1512 1514 1516 1512 1514 1516 1522 1524 1526 1580 1 1580 1 1550 1580 1 1550 1575 1 1555 1555 1575 1 1570 1 1580 1 1555 Turning to, a first implementation of the processis illustrated in a map screen. The map screenpreferably includes a live spraying map windowand a prior season spraying map window. The live spraying map windowpreferably displays a map overlaycomprised of map blocks,,representing live spraying data (e.g., application rate) associated with the location of the block. As the sprayer traverses the field, an annotation indicating the location of the sprayeras it traverses the field and a map block (e.g., map block) is placed in the location occupied on the map screenby each nozzle-. The pattern, symbol or color of each map block corresponds to a legendpreferably displayed in the live spraying map window. The legendpreferably includes a set of legend ranges (e.g., legend ranges,,) including a pattern, symbol or color and a corresponding value range. The legend ranges,,correspond to application rate ranges. It should be appreciated that the legend ranges,,correspond to map blocks,,, respectively. A boundary-preferably defines the extent of the map being displayed. The boundary-preferably remains in the same position with respect to the borders of the live spraying map window. In some embodiments, the boundary-is coextensive with the borders of the live spraying map window. An orientation indicator-preferably indicates the current orientation of the map layer. When the map layeris rotated, the orientation indicator-preferably updates to display the orientation of the map layer with respect to north. An annotation-preferably remains at the same position with respect to the boundary-as the map layeris manipulated.

8 FIG. 1560 1565 1542 1544 1546 1530 1560 1530 1532 1534 1536 1512 1514 1516 1532 1534 1536 1542 1544 1546 1580 2 1580 2 1550 1580 2 1550 1580 1 1580 2 1575 2 1565 1565 1575 2 1570 2 1580 2 1565 1570 1 1570 2 1555 1565 Continuing to refer to, the prior season spray map windowpreferably displays a prior season spraying data map overlaycomprised of map polygons,,representing spraying data (e.g., application rates) from a prior season. The pattern, symbol or color of each map polygon corresponds to a legendpreferably displayed in the prior season spray map window. The legendpreferably includes a set of legend ranges (e.g., legend ranges,,) including a pattern, symbol or color and a corresponding value range. The legend ranges,,correspond to application ranges. It should be appreciated that the legend ranges,,correspond to map blocks,,, respectively. A boundary-preferably defines the extent of the map being displayed. The boundary-preferably remains in the same position with respect to the borders of the live spraying map window. In some embodiments the boundary-is coextensive with the borders of the live spraying map window. The boundaries-,-preferably correspond to the same set of geo-referenced coordinates. An orientation indicator-preferably indicates the current orientation of the map layer. When the map layeris rotated, the orientation indicator-preferably updates to display the orientation of the map layer with respect to north. An annotation-preferably remains at the same position with respect to the boundary-as the map layeris manipulated. The annotations-,-preferably correspond to the same geo-referenced location (e.g., the same GPS coordinates) such that a user may use the annotations as a point of reference to compare corresponding locations on the map layers,.

9 FIG. 8 FIG. 1900 1600 1600 1650 1660 1650 1660 1665 1632 1634 1636 1622 1624 1626 1620 12 Turning to, a second implementation of the processis illustrated in a map screen. The map screenpreferably includes a completed spray map windowand a live yield map window. The completed spray map windowis preferably similar to the live spray map window of, except that the data has been completed in a prior spraying operation and is obtained from a file stored in memory. The live yield map windowpreferably includes a map layercomprising yield map polygons,,(or blocks similar to those used in the spray maps described herein) corresponding to ranges,,of a yield legend. As the combine traverses the field, a combine annotationindicates the current location of the combine within the map.

10 FIG. 9 FIG. 1900 1700 1700 1750 1660 1660 1600 1750 1755 1755 1755 1722 1724 1726 1712 1714 1716 1710 1755 100 Turning to, a third implementation of the processis illustrated in a map screen. The map screenpreferably includes an input application windowand a live yield map windowsubstantially similar to the live yield map windowin the map screenof. The input application windowpreferably displays a map layerrepresenting spatially varying rate of application of a crop input; in the illustrated embodiment, the map layerrepresents the rate of application of nitrogen. The map layerpreferably comprises a set of application rate polygons,,corresponding to legend ranges,,of an application rate legend. The data used to generate the map layermay be accessed from a memory outside the monitor system. For example, nitrogen application rate data may be transferred (e.g., via a portable memory) from a desktop computer used to generate a nitrogen application prescription or a nitrogen application monitor system used to control and record as-applied nitrogen application.

11 FIG. 9 FIG. 1900 1800 1800 1850 1660 1660 1600 1850 1855 1855 1822 1824 1826 1812 1814 1816 1810 12 1850 130 12 12 1855 12 1665 Turning to, a fourth implementation of the processis illustrated in a map screen. The map screenpreferably includes a soil type windowand a live yield map windowsubstantially similar to the live yield map windowin the map screenof. The soil type windowpreferably displays a map layerrepresenting spatially soil types in the field. The map layerpreferably comprises a set of soil type polygons,,corresponding to legend ranges,,of an soil type legend. A combine annotationb is preferably displayed in the soil type window; as the combine traverses the field, the display devicepreferably updates the location of the combine annotationb such that the combine annotationb is displayed at the location on the map layercorresponding to the same geo-referenced location as the current location of the combine annotationon the map layer.

Components described herein as being in electrical communication may be in data communication via any suitable device or devices. The term “data communication” as used herein is intended to encompass wireless (e.g., radio-based), electrical, electronic, and other forms of digital or analog data transmission. Components described herein as being in communication via a harness may be in data communication via any suitable device or devices. A harness may comprise a single electrical line or a bundled plurality of electrical lines, and may comprise a point-to-point connection or a bus.

The foregoing description and drawings are intended to be illustrative and not restrictive. Various modifications to the embodiments and to the general principles and features of the system and methods described herein will be apparent to those of skill in the art. Thus, the disclosure should be accorded the widest scope consistent with the appended claims and the full scope of the equivalents to which such claims are entitled.