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ABSTRACT. A method is developed to build field elevation map with less than 10 cm accuracy for precision farming based on multiple seasons operation data. A field is rasterized with predefined cell size. The attributes of the cell include elevation and elevation variance. Cells are grouped into tiles that can be dynamically added or removed to cover any size or shape of a field with efficient memory usage. The quality of each surveyed data point is estimated dynamically based on current GNSS receiver performance indicator and the IMU status. The data quality is converted to the weight parameter used in fusion the new elevation data into existing data cell. The static bias of the IMU roll angle and the elevation are estimated by post analyzing of the field data.  

The method is verified with surveyed elevation data with RTK. The standard deviation in elevation is 7.12 cm based on one planting season and reduced to 6.66 cm on 3 seasons.