novel approaches to expression and detection of oestrus in dairy cows

mounting cow. For example height changes could be determined close to
the robotic milker (as mounting cannot occur in the robot).
a
b
c
Figure 4.13 Kinematic tests to determine
height accuracy of BU geometry in areas of
good and poor signal quality according to
HVDOP (Figure 4.9) a) kinematic test in
central position of good signal quality,
involving changes in height, b) kinematic
test in area of poor signal quality in far
corner of location and c) kinematic test
close to the robotic milker, an area of
suspected high multipath and poor signal
quality as identified by HVDOP
These results concluded that the 8 BU network provided accurate results of
MU position, with reduced spiking and error due to the best possible
geometry of BU network. In summary, this work led to the validation of
UWB accuracy in good and poor positions within the cow barn. The next
step was to monitor cows’ behaviour to accurately determine their position
at a given time.
4.3.2 Short Cow Tests
The purpose of the short tests was to monitor multiple cows’ behaviour and
achieve the best possible set up of the equipment. In a series of 3 half day
tests 4 to 6 cows were monitored on each occasion with each cow wearing
backpacks (see Figure 4.4) with an MU attached to a battery (see Figure
4.3). Cows were selected for use in the trial and removed from their
location in the cow barn to the management/ AI stalls where the cows were
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