Determination of Oil Palm Planting Patterns using ArduSimple RTK2B GNSS, LoRa Communication, and Drone-based Orthophotos

Mona Arif Muda Batubara; Muna Fauziah; Melvi Melvi; Ardian Ulvan

doi:10.5614/itbj.ict.res.appl.2026.20.2.4

Authors

Mona Arif Muda Batubara Department of Electrical Engineering, Universitas Lampung, Jalan Sumantri Brojonegoro No.1, Bandar Lampung 35145, Lampung
Muna Fauziah Department of Electrical Engineering, Universitas Lampung, Jalan Sumantri Brojonegoro No.1, Bandar Lampung 35145, Lampung
Melvi Melvi Department of Electrical Engineering, Universitas Lampung, Jalan Sumantri Brojonegoro No.1, Bandar Lampung 35145, Lampung
Ardian Ulvan Department of Electrical Engineering, Universitas Lampung, Jalan Sumantri Brojonegoro No.1, Bandar Lampung 35145, Lampung

DOI:

https://doi.org/10.5614/itbj.ict.res.appl.2026.20.2.4

Keywords:

ArduSimple RTK2B, LoRa, oil palm planting pattern, orthophoto, RTK GNSS

Abstract

Oil palm is a major plantation commodity in Indonesia, where accurate planting patterns are essential to optimize yield and support sustainable management. Conventional methods using stakes and ropes are labor-intensive and prone to spatial error, whereas many GNSS-based systems are costly and proprietary. This study develops a low-cost real-time kinematic (RTK) GNSS system for determining oil palm planting patterns, based on the ArduSimple RTK2B module, a multiband GNSS antenna, and long-range LoRa communication integrated with a mobile application and orthophoto-derived digital maps. In the base?rover configuration, RTCM corrections are transmitted via LoRa, while planting points designed in ArcGIS are imported into SW Maps for field navigation. Performance is assessed through benchmark accuracy tests, LoRa packet delivery ratio and packet loss measurements over 10?100 m, planting-pattern trials for square and triangular layouts, and a comparison with an actual oil palm layout in a commercial estate. The rover achieved a horizontal positioning error of 8.95 cm, while planting trials yielded mean errors of 8.40 cm (RMSE 9.3 cm) for the square layout and 7.78 cm (RMSE 9.1 cm) for the triangular layout, both within the 10 cm tolerance. The proposed system provides practical, low-cost accuracy for oil palm planting guidance.

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