A High-Performance, High-Accuracy RTK GPS Machine Guidance System

Hugh Baertlein, Bruce Carlson, Rod Eckels, Stacey Lyle, Steve Wilson

Abstract:	As technology matures, RTK GPS receivers are providing increased performance in accuracy, OTF initialization times, measurement speed and latency. Leica’s Dozer 2000 machine guidance system combines an MC1000 GPS sensor, graphic intensive guidance software, a digital terrain model and a digital site plan. The end result is a high-accuracy, extremely responsive local navigation system. Engineers can easily upload design information onto touch-screen machine guidance PC and greatly reduce earthmoving costs, while simultaneously recording “as-built” inspection data. The Leica MC1000 Machine Control sensor is a true 10Hz centimeter level accuracy open-architecture GPS sensor specifically designed for machine guidance and control. At the heart of the MC1000’s performance are very stable oven-controlled oscillator (3x10 -11 /sec short-term stability), a low power Intel 486-DX4-80 processor and 4 user configurable I/O ports. Special algorithms which mitigate the effects of multipath and SA and provide centimeter accuracy up to 10 times per second with only 30 milliseconds latency. The high update rate and low latency are essential for machine guidance and control. The MC1000 GPS reference station is capable of outputting RTK and DGPS data simultaneously, providing an entire site with GPS information for machine guidance & control, tracking & dispatching of vehicles, and support of survey crews This paper describes how recent advances in technology have combined to produce the Leica Dozer 2000 (Dozer 2000) - a Machine Guidance system that is ideal for a wide range of earthmoving and inspection applications.
Published in:	Proceedings of the 55th Annual Meeting of The Institute of Navigation (1999) June 27 - 30, 1999 Royal Sonesta Hotel Cambridge, MA
Pages:	789 - 795
Cite this article:	Baertlein, Hugh, Carlson, Bruce, Eckels, Rod, Lyle, Stacey, Wilson, Steve, "A High-Performance, High-Accuracy RTK GPS Machine Guidance System," Proceedings of the 55th Annual Meeting of The Institute of Navigation (1999), Cambridge, MA, June 1999, pp. 789-795.
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