Efficiency of tillage depends largely on the nature of the field, soil type, spatial distribution of soil properties and the correct setting of the tillage implement.  However, current tillage practice is often implemented without full understanding of machine design and capability leading to lowered efficiency and further potential damage to the soil structure. By modifying the physical properties of soil only where the tillage is needed for optimum crop growth, variable depth tillage (VDT) has been shown to reduce costs, labour, fuel consumption and energy requirements. To implement VDT it is necessary to determine and map soil physical properties, spatially and with depth through the soil profile.

In this research a multi-sensor and data fusion approach was developed that augmented data collected with an electromagnetic sensor with a standard penetrometer, and conventional methods for the measurement of bulk density (BD) and moisture content (MC). Packing density values were recorded for eight soil layers of 0-5, 5-10, 10-15, 15-20, 20-25, 25-30 30-35 and 35-40 cm. From the results only 62% of the site required the deepest tillage at 38 cm, 16% required tillage at 33 cm and 22% required no tillage at all. The resultant maps of packing density were shown to be a useful tool to guide VDT operations. The results provided in this study indicate that the new multi-sensor and data fusion approach introduced is a useful approach to map layered soil compaction to guide VDT operations.