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Trimble Toolbox-Today’s choices

Technology In the Construction Market

March, 2004

Paul J. ThomasTrimble Navigation LTD.

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The tools available and how they fit your need

Review of some “old” tools with some new featuresHow 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 matchAutomatically matches an existing grade-sets that grade

in transmitter

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Considerations when using a laser

AdvantagesExcellent accuracy on planar surfaces-.01’-.03’Familiar technology, used for yearsAble to control several machines from one set-upRelatively low costFlat “learning curve”Can eliminate blue tops

DisadvantagesLine of sight to each machine requiredPlanar surfaces onlyLarge elevation changes require many set-upsGrade checker must check set upRange is effected by dust, fog and snowX-Y alignment still required

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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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What is “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 plansDigital 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 gradeExtremely 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 trackAn Operator display and interfaceA high speed data radio to link data from the Robot to the machineA standard BladePro Grader system with Automatic controls

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The components

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System is Windows NT based-Operator touch screen

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Considerations when using ATS Technology

AdvantagesAccurate results in the range of 0.0’/.02’Standard BladePro can be easily upgraded to BladePro 3D-ATS1000’ to and from instrument for 2000’ total with one instrument set upEasily upgraded to BladePro 3D-GPS, single antenna variant

DisadvantagesMust be line of sight to the machineControls only ONEmachine Gun must be protected from being run overRequires a .PRO file format from TerramodelRange is effected by fog, dust, snow or heavy rain

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BladePro-3D applications…Blade 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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28 satellites now in orbit around earth at an altitude of 11, 000 miles.$13 Billion investment by DOD starting in 1973Maintained and managed by DODAvailable at no charge, 24/7, worldwide.24 satellites in orbit11,000 miles altitudeand operates system wide 24/7

Global Global Positioning System

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The Military, smart bombs to on- ground navigationConstruction CompaniesLand Surveying CompaniesCivil Engineering CompaniesUtility CompaniesMining CompaniesFarmersAirlinesBusses & Cabs911 SystemsPolice DepartmentsFire and Rescue Departments

Cell Phone CompaniesInternet CompaniesTruck DriversRace Car DriversHuntersFishermenGolfersZoo SpecialistBoaters and mariners& so many more...

GPS is Utilized by Everyone

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What about accuracy?

Single receiver3-10 m (10-30 ft)

Differential GPS0.5 - 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

AutonomousDGPS“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 YWithin 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 receiversSurvey grade accuracyReal 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 systemThe Project is in a different coordinate systemGPS calibration defines the relationship between the twoConverts coordinates from GPS system to our local site coordinate systemREQUIRED to work in local coordinates

WGS84 NEE

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How do you do a site Cal?

Use existing control on or near the jobShoot 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 StationGPS receiverGPS antennaRadio

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Fixed RTK base station

Typical SiteVision base station. GPS, and radio combination

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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 sourceBattery backup or solar charged batteryUPS if in office trailer

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What you need on a machine

SiteVision on machinesGPS receiverGPS antennasRadio DisplayDirection indicatorsOptional: automatics

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High Performance GPS receiver

Trimble MS860 ReceiverTrimble MS860 GPS 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 verticalLow latency(Delay in processing information)

<20 ms latency (less than .02 times/second20 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 positionCalculates the vertical and horizontal position of the bladeCompares blade position to the 3D planSignals the operator or the hydraulics to either raise or lower the blade to achieve the design requirementsIt 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 freeSpread spectrumflexible interference avoidance with 40 networks“Turbo Mode”

Configurable applications

BaseRoverRepeaterMachine radio

450 MHz radio solutionLicense is required!

License is geographically specificRenewable each yearData is secondary to voice…shared frequencyHigher power=greater rangeSurveyor’s typically use 450 MHz.We can dual port both from one base station

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Two 13” GPS antennas

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Why Two GPS Antennas?

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Why not One GPS Antenna?

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Problems withsingle Antenna System

• Is it here?• Or here?

• Or here?

GPS Antenna

Which way is theMachine Facing?

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Simple, Start Moving?

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

1st measured position

2nd measured position

3rd measured position

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The problem is more complex

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

Indicated direction

Actual Direction

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Accuracy when computing a position on each side of the blade

A two receiver/two antenna solutionEach antenna computes a position relative to the reference stationEach 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 %

Reference Station

Vector to left antennato get 3D positionon left edge

Vector to right antennato get 3D position on right edge

Vertical position error

Vertical position error

Resultant cross-slope error

Receiver 1Computes Left

X,Y,Z

Receiver 2Computes right

X,Y,Z

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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 techniqueThe known length between the antennae provides additional information for a more robust solutionThe result – very accurate cross-slope

Twice as accurate as a tilt sensorProvides cross-slope updates twice as fast

A single receiver computes X,Y,Z, orientation

and cross slope

Short precise vector across the blade

Reference Station

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Summary - Two Antennas

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

Gives You:

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 checker’s rover

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GPS Rover

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Considerations when using GPS Technology

AdvantagesPlaces the design in front of the operator.Unlimited machines possible on one baseLine of sight not requiredDramatically increases productionDramatically reduces labor costs-layout,stakesNot effected by fog, dust etc.Operators love to use it!

DisadvantagesYou need a clear view of the sky

Tree canopyTall buildingsBlocking terrain

Requires a local “champion” to manage-

Data and site CalRadio coverageProper application requiring attentionPDOP issues

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Managing the Constellation-Planning options

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GPS & Machine GuidanceThe design goals were to:

Improve vehicle utilizationLower per yard costsReduce lay out dependencyImprove operator involvement and efficiencyEliminate reworkImprove accuracy and quality

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Trimble and Caterpillar JVA 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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Factory Attachment

Aftermarket

Compatible in FieldCat Trimble JV

Based on Common Platform

Factory Attachment

Caterpillar-TrimbleJV

Aftermarket

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QUESTIONS ?

http://www.Trimble.com