Global Navigation Satellite Systems (GNSS) in precision agriculture (PA) represent a cornerstone for field mapping, machinery guidance, and variable rate technology. However, recent improvements in GNSS components (GPS, GLONASS, Galileo, and BeiDou) and novel remote sensing and computer processing-based solutions in PA have not been comprehensively analyzed in scientific reviews. Therefore, this study aims to explore novelties in GNSS components with an interest in PA based on the analysis of scientific papers indexed in the Web of Science Core Collection (WoSCC). The novel solutions in PA using GNSS were determined and ranked based on the citation topic micro criteria in the WoSCC. The most represented citation topics micro based on remote sensing were “NDVI”, “LiDAR”, “Harvesting robot”, and “Unmanned aerial vehicles” while the computer processing-based novelties included “Geostatistics”, “Precise point positioning”, “Simultaneous localization and mapping”, “Internet of things”, and “Deep learning”. Precise point positioning, simultaneous localization and mapping, and geostatistics were the topics that most directly relied on GNSS in 93.6%, 60.0%, and 44.7% of the studies indexed in the WoSCC, respectively. Meanwhile, harvesting robot research has grown rapidly in the past few years and includes several state-of-the-art sensors, which can be expected to improve further in the near future.

Soybean is regarded as one of the most produced crops in the world, presenting a source of high-quality protein for human and animal diets. The general objective of the study was to determine the optimal soybean land suitability and conduct its mapping based on the multicriteria analysis. The multicriteria analysis was based on Geographic Information System (GIS) and Analytic Hierarchy Process (AHP) integration, using Sentinel-2 multitemporal images for suitability validation. The study area covered Osijek-Baranja County, a 4155 km² area located in eastern Croatia. Three criteria standardization methods (fuzzy, stepwise and linear) were evaluated for soybean land suitability calculation. The delineation of soybean land suitability classes was performed by k-means unsupervised classification. An independent accuracy assessment of calculated suitability values was performed by a novel approach with peak Normalized Difference Vegetation Index (NDVI) values, derived from four Sentinel-2 multispectral satellite images. Fuzzy standardization with the combination of soil and climate criteria produced the most accurate suitability values, having the top coefficient of determination of 0.8438. A total of 14.5% of the study area (602 km²) was determined as the most suitable class for soybean cultivation based on k-means classification results, while 64.3% resulted in some degree of suitability.

The determination of cropland suitability is a major step for adapting to the increased food demands caused by population growth, climate change and environmental contamination. This study presents a novel cropland suitability assessment approach based on machine learning, which overcomes the limitations of the conventional GIS-based multicriteria analysis by increasing computational efficiency, accuracy and objectivity of the prediction. The suitability assessment method was developed and evaluated for soybean cultivation within two 50 × 50 km subsets located in the continental biogeoregion of Croatia, in the four-year period during 2017–2020. Two biophysical vegetation properties, leaf area index (LAI) and a fraction of absorbed photosynthetically active radiation (FAPAR), were utilized to train and test machine learning models. The data derived from a medium-resolution satellite mission PROBA-V were prime indicators of cropland suitability, having a high correlation to crop health, yield and biomass in previous studies. A variety of climate, soil, topography and vegetation covariates were used to establish a relationship with the training samples, with a total of 119 covariates being utilized per yearly suitability assessment. Random forest (RF) produced a superior prediction accuracy compared to support vector machine (SVM), having the mean overall accuracy of 76.6% to 68.1% for Subset A and 80.6% to 79.5% for Subset B. The 6.1% of the highly suitable FAO suitability class for soybean cultivation was determined on the sparsely utilized Subset A, while the intensively cultivated agricultural land produced only 1.5% of the same suitability class in Subset B. The applicability of the proposed method for other crop types adjusted by their respective vegetation periods, as well as the upgrade to high-resolution Sentinel-2 images, will be a subject of future research.

While SoilGrids is an important source of soil property data for a wide range of environmental studies worldwide, there is currently an extreme lack of studies evaluating its accuracy against independent ground truth soil sampling data. This study aimed to provide a comprehensive insight into the accuracy of SoilGrids layers for three physical soil properties representing soil texture components (clay, silt, and sand soil contents) using ground truth data in the heterogeneous landscape of Croatia. These ground truth data consisted of 686 soil samples collected within the national project at a 0–30 cm soil depth, representing the most recent official national data available. The main specificity of this study was that SoilGrids was created based on zero soil samples in the study area, according to the ISRIC WoSIS Soil Profile Database, which is very sparse for the wider surroundings of the study area. The accuracy assessment metrics indicated an overall low accuracy of the SoilGrids data compared with the ground truth data in Croatia, with the average coefficient of determination (R²) ranging from 0.039 for silt and sand to 0.267 for clay, while the normalized root-mean-square error (NRMSE) ranged from 0.362 to 2.553. Despite the great value of SoilGrids in a vast range of environmental studies, this study proved that the accuracy of its products is highly dependent on the presence of ground truth data in the study area.

The high-precision positioning and navigation of agricultural machinery represent a backbone for precision agriculture, while its worldwide implementation is in rapid growth. Previous studies improved low-cost global navigation satellite system (GNSS) hardware solutions and fused GNSS data with complementary sources, but there is still no affordable and flexible framework for positioning accuracy assessment of agricultural machinery. Such a low-cost method was proposed in this study, simulating the actual movement of the agricultural machinery during agrotechnical operations. Four of the most commonly used GNSS corrections in Croatia were evaluated in two repetitions: Croatian Positioning System (CROPOS), individual base station, Satellite-based Augmentation Systems (SBASs), and an absolute positioning method using a smartphone. CROPOS and base station produced the highest mean GNSS positioning accuracy of 2.4 and 2.9 cm, respectively, but both of these corrections produced lower accuracy than declared. All evaluated corrections produced significantly different median values in two repetitions, representing inconsistency of the positioning accuracy regarding field conditions. While the proposed method allowed flexible and effective application in the field, future studies will be directed towards the reduction of the operator’s subjective impact, mainly by implementing autosteering solutions in agricultural machinery.

Soil texture is a vital criterion in most cropland suitability analyses, so an accurate method for the delineation of soil texture suitability zones is necessary. In this study, an automated method was developed and evaluated for the delineation of these zones for soybean cultivation. A total of 255 soil samples were collected in the Continental biogeoregion of Croatia. Three methods for interpolation of clay, silt and sand soil content were evaluated using the split-sample method in five independent random repetitions. An automated algorithm for soil texture classification based on the United States Department of Agriculture (USDA) in 12 classes was performed using Python script. Suitability classes for soybean cultivation per soil texture class were determined according to previous agronomic and soybean land suitability studies. Ordinary kriging produced the highest accuracy of tested interpolation methods for clay, silt and sand. Highly suitable soil texture classes for soybean cultivation, loam and clay loam, were detected in the northern part of the study area, covering 5.73% of the study area. The analysis of classification results per interpolation method indicated a necessity of the evaluation of interpolation methods as their performance depended on the normality and stationarity of input samples.