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Trimble Toolbox-Today’s choices Technology In the Construction Market March, 2004

Paul J. Thomas Trimble Navigation LTD. 1

The tools available and how they fit your need Review of some “old” tools with some new features How to analyze which tool will help you meet or exceed your specifications and A look at some new, high tech grade control tools that are changing the way grading is being done.

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A review of the “1D” laser solution •Vertical control only* •Dual slope/steep slope •Very tight accuracy-.02-.03 @up to 750 ‘ •Less accurate at extreme range •Can control multiple machines •Easy set up, compatible with many laser receivers

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New generation has some new features and fewer problems Remote control of all functions to ~1500’

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New features=more functionality Automatic Axis alignment within 40 degrees of rough in alignment

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Automatic plane “lock” Controls “thermal drift” that can change laser grade

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Automatic Grade match Automatically matches an existing grade-sets that grade in transmitter

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Considerations when using a laser Advantages Excellent accuracy on planar surfaces-.01’-.03’ Familiar technology, used for years Able to control several machines from one setup Relatively low cost Flat “learning curve” Can eliminate blue tops

Disadvantages Line of sight to each machine required Planar surfaces only Large elevation changes require many set-ups Grade checker must check set up Range is effected by dust, fog and snow X-Y alignment still required 8

Caterpillar “AccuGrade�

Available on D3G-D5G with additional models coming in 2004 Full Automatic control Available through CAT distribution Available through Trimble distribution as GCS400

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W hatis“Stakeless”Grade Control?

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A digital “model” of the project

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Background Map (DXF File)

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Data Management What type of project?

What type of data is provided?

What data is required for field use?

What type of data do we need to track?

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Project Type

What type of project?

Site – contour lines, spot grades, etc..

Road – Plan and profile, typical sections, superelevation, etc..

Site and Road combination.

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Digital or Paper

What type of data is provided?

Paper plans Digital plans – DWG, DGN, PRO, etc…

Site projects require digital plans.

Road projects do not require a digital plan.

Take-off data can be used for field use.

Caution! Reduced accuracy.

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To create a Digital Terrain Model (DTM) of the project

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We put the BLADE on the model ‹

Digital Terrain Model (DTM) Triangular Irregular Network (TIN)

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Digital Terrain Model (TIN or Grided Model)

3D Face TIN Model *. DXF “Triangular Irregular network� defines the 3D faces of the surface.

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BladePro 3D-ATS BladePro 3D-ATS utilizes a 3D model and a robotic total station to control the finish grade Extremely accurate within 1000’ .00’-.03’

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What equipment is used An Automatic Total Station (Robot) A machine mounted prism for the Robot to track An Operator display and interface A high speed data radio to link data from the Robot to the machine A standard BladePro Grader system with Automatic controls

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The components

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System is Windows NT basedOperator touch screen

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Considerations when using ATS Technology Advantages Accurate results in the range of 0.0’/.02’ Standard BladePro can be easily upgraded to BladePro 3D-ATS 1000’ to and from instrument for 2000’ total with one instrument set up Easily upgraded to BladePro 3D-GPS, single antenna variant

Disadvantages Must be line of sight to the machine Controls only ONE machine Gun must be protected from being run over Requires a .PRO file format from Terramodel Range is effected by fog, dust, snow or heavy rain 23

BladePro-3D applications‌Blade and Dozer, Mill and pavers

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Data entered on Compact Flash card

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SiteVision GPS

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Global Global Positioning System 28 satellites now in orbit around earth at an altitude of 11, 000 miles. $13 Billion investment by DOD starting in 1973 Maintained and managed

by DOD Available at no charge, 24/7, worldwide.

24 satellites in orbit 11,000 miles altitude and operates system wide 24/7 27

GPS is Utilized by Everyone

The Military, smart bombs to on- ground navigation Construction Companies Land Surveying Companies Civil Engineering Companies Utility Companies Mining Companies Farmers Airlines Busses & Cabs 911 Systems Police Departments Fire and Rescue Departments

Cell Phone Companies Internet Companies Truck Drivers Race Car Drivers Hunters Fishermen Golfers Zoo Specialist Boaters and mariners & so many more...

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What about accuracy?

Single receiver

3-10 m (10-30 ft)

Differential GPS

0.5 - 3 m (2 - 15 ft) With coast guard or satellite corrections

Real-Time Kinematic (RTK)

1 - 5 cm (1/2” - 2”)

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Types of GPS Positions Autonomous DGPS “Float” “Fixed”

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Real Time Kinemetic GPS

Repeater for difficult terrain

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Overview of RTK-GPS

Trimble

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The Global Positioning System (GPS) is used to...

Accurately position the grading machine BLADE , on the 3D digital model of the project Within 1cm in X and Y Within 1-3 cm in Z This puts the blade on the design, precisely located in 3D

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SiteVision GPS uses RTK-GPS technology Dual frequency, L1/L2 receivers Survey grade accuracy Real time, rugged platform

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The site set up process

We need to perform a GPS Calibration of the site to bring the control of the project into a “local coordinate system” from the conventional coordinate system used by the original surveyor.

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What is a GPS Calibration?

GPS works in one coordinate system The Project is in a different coordinate system GPS calibration defines the relationship between the two Converts coordinates from GPS system to our local site coordinate system REQUIRED to work in local coordinates

WGS84

NEE 36

How do you do a site Cal? Use existing control on or near the job Shoot points with good geometry, usually 5 or more points.

Software then converts control from conventional survey, to Northing, Easting and Elevation.

The site Calibration file is then loaded onto each “rover” to perform the calculations against the “model” of the project

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What you need

GPS Base Station GPS receiver GPS antenna Radio

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Fixed RTK base station

Typical SiteVision base station. GPS, and radio combination 39

Base Station set up Trimble prefers to use a “permanent” mount rather than a daily set up.

Consider radio location…high and in the clear=good job coverage Repeaters can be used to improve coverage in challenged areas of the job Provide a reliable power source Battery backup or solar charged battery UPS if in office trailer

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What you need on a machine SiteVision on machines GPS receiver GPS antennas Radio Display Direction indicators Optional: automatics

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High Performance GPS receiver Trimble MS860 GPS receiver Trimble MS860 Receiver

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MS860 Receiver Survey grade accuracy (This is the same platform that over 75% of the surveyor’s using GPS in California use) 1cm horizontal, 1-3cm vertical Low latency(Delay in processing information) <20 ms latency (less than .02 times/second 20 Hz update rates (20 times per second) Rugged, proven enclosure

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SV170 Color computer

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Onboard computer...

Computes the machines blade position Calculates the vertical and horizontal position of the blade Compares blade position to the 3D plan Signals the operator or the hydraulics to either raise or lower the blade to achieve the design requirements It Is the operator interface

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Plan Views

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Four screens available to the operator

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Guidance to Any plan Line

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Vertical and horizontal Offsets

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Scaleable Lightbars

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High speed radio modem

TC900 radio modem

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Machine Radios 900 MHz SiteNet 900 is preferred.

License free Spread spectrum flexible interference avoidance with 40 networks “Turbo Mode” Configurable applications Base Rover Repeater Machine radio

450 MHz radio solution License is required!

License is geographically specific Renewable each year Data is secondary to voice…shared frequency Higher power=greater range Surveyor’s typically use 450 MHz. We can dual port both from one base station

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Two 13â&#x20AC;? GPS antennas

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Why Two GPS Antennas?

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Why not One GPS Antenna?

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Problems with single Antenna System

• Is it here?

• Or here?

GPS Antenna

• Or here?

Which way is the Machine Facing?

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Simple, Start Moving?

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Look at the direction of travel of the machine Use the heading to calculate blade orientation

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Which way is the machine moving?

No, because the machine started by moving backwards 3rd measured position 2nd measured position 1st measured position

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The problem is more complex Indicated direction Actual Direction

Machines do not always move in the direction they are facing Slippage occurs on slopes and under load Dozers and Motor Graders can rotate without forward movement (6 - way Blades) 59

Accuracy when computing a position on each side of the blade A two receiver/two antenna solution Each antenna computes a position relative to the reference station Each antenna computes a position with normal RTK GPS vertical accuracy (.05’ – .10’) Across a 12’ blade this equates to a grade error of 0.75% to 1.5 %

Vertical position error

Resultant crossslope error

Vector to left antenna to get 3D position on left edge

Vertical position error Vector to right antenna to get 3D position on right edge Receiver 1 Computes Left X,Y,Z

Receiver 2 Computes right X,Y,Z

Reference Station

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Accuracy when computing the vector across blade

The single short vector is computed directly between the two antennas on the blade using a patented Trimble technique The known length between the antennae provides additional information for a more robust solution The result – very accurate cross-slope Twice as accurate as a tilt sensor Provides cross-slope updates twice as fast

Short precise vector across the blade

A single receiver computes X,Y,Z, orientation and cross slope Reference Station

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Summary - Two Antennas Gives You:

Most Accurate Solution!

Cuts/Fills calculated along the entire blade cutting edge, from the right tip all the way to the left tip (no matter how the blade is tilted or rotated) Always know which way the machine is facing and moving. (operator must tell the system which direction with single antenna) No need for rotation or tilt sensors that are affected by vibration (especially on dozers) No daily/weekly/monthly calibration of sensors

TWO ANTENNA’S (Patented Trimble Technology)

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Dozers D3-D11 manual and automatic

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Blades-manual and automatic

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Scrapers, single and dual antenna

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Compactors

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Excavator

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Grade checkerâ&#x20AC;&#x2122;s rover

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GPS Rover

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Considerations when using GPS Technology

Advantages Places the design in front of the operator.

Unlimited machines possible on one base Line of sight not required Dramatically increases production Dramatically reduces labor costs-layout,stakes Not effected by fog, dust etc.

Operators love to use it!

Disadvantages You need a clear view of the sky Tree canopy Tall buildings Blocking terrain Requires a local “champion” to manage Data and site Cal Radio coverage Proper application requiring attention PDOP issues

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Managing the ConstellationPlanning options

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GPS & Machine Guidance

The design goals were to: Improve vehicle utilization Lower per yard costs Reduce lay out dependency Improve operator involvement and efficiency Eliminate rework Improve accuracy and quality

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Trimble and Caterpillar JV

A joint venture, equally funded by Caterpillar and Trimble will…

Jointly develop systems to enhance the earthmoving process including Integrated GPS and other technologies .

State of the art hydraulic control systems.

Integrated machine systems for plug and play installations on aftermarket machines.

Broaden the availability of high technology solutions for earthmoving.

Direct Caterpillar factory availability soon...

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Based on Common Platform Factory Attachment Factory Attachment

Caterpillar-Trimble Cat Trimble JV JV

Compatible in Field

Aftermarket Aftermarket

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QUESTIONS ? http://www.Trimble.com

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