Fuente: Wipo "precision agriculture" Methods of creating and using digital twins of vegetation / crops in relation to their growing environments. Some embodiments include creating a digital twin of the growing environment using sensor data from a subsurface sensor suite, creating a digital twin of the vegetation crop using data from an overhead sensor suite, and using at least one mathematical model to relate the digital twin of the crop to the digital twin of the growing environment. In some embodiments, the mathematical model(s) implement a root cause analysis that uses a limiting factor approach. In some embodiments, the subsurface sensor suite is on a multi-sensor soil probe. In some embodiments, the multi-sensor soil probe comprises a video microscope, a tip stress sensor, a sleeve stress sensor, and a volumetric- water-content sensor. Other related systems, devices, methods, and software are also disclosed.