Real-Time cm-level GPS Positioning of Cutting Blade and Earth Moving Equipment

George Dedes and Clyde Goad

Abstract:	Fast ambiguity resolution with or without Anti Spoofmg(AS), with as few as five satellites in view, is essential for a successful real time cm-level positioning in the working environment of earth moving equipment. Using high quality GPS receivers, it is possible to resolve consistently and successfully double difference integer ambiguities with five satellites in view to within 3-6 epochs when AS is off and to within 5-10 epochs when AS is on. Optimal filtering of the double difference pseudoranges using a three measurement model, followed by the widelane ambiguity search, is used to determine the double difference integer ambiguities. Use of widelaning is essential in an environment where multipath may be a problem. The ability to determine the position of an excavator or a loader to an accuracy of l-2 cm in real time is expected to reduce substantially the construction time and costs and could ultimately lead to the automated operations of earth moving equipment by feeding the GPS derived positions to the vehicle’s control system.
Published in:	Proceedings of the 1994 National Technical Meeting of The Institute of Navigation January 24 - 26, 1994 Catamaran Resort Hotel San Diego, CA
Pages:	587 - 594
Cite this article:	Dedes, George, Goad, Clyde, "Real-Time cm-level GPS Positioning of Cutting Blade and Earth Moving Equipment," Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1994, pp. 587-594.
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