3D Autonomous Position is an optional component for the 3D Image Active Protection application.
3D Autonomous Position is a GPS+INS (GPS position and inertia navigation) system, specified for application as a primary machine position instrument.
3D Autonomous Position provides comprehensive industrial protocol support.
Primary instrument capability refers to the use of the position data for direct machine motion control, in contrast to a reference system where the GPS position is used for validation of existing position instruments, such as encoders, angle transducers and RFID tag systems.
The use of GPS as a primary machine position instrument has not been accepted in the mining sector, possibly due to the fact that many existing systems have not been designed for machine control applications. In the majority of cases, the selected GPS receivers are designed for construction applications and do not have the features necessary for direct machine motion control.
Features that differentiate 3D Autonomous Position for application as the primary position instrument are:
- High performance GPS, incorporating a Micro-Electro-Mechanical Systems (MEMS) based Inertia Measuring Unit (IMU)
- High accuracy (10mm horizontal, 20mm vertical) Real Time Kinematic (RTK) GPS receivers
- GPS with Receiver Autonomous Integrity Monitoring (RAIM)
- GPS with Ethernet interface for remote access and RTK base station
- 20Hz Update Rate, typically 10Hz for construction GPS
- Low Latency, <10mS, typically 100mS for construction GPS
- High performance processor for GPS position to axis motion software, required for low latency position
- I/O interface to machine PLC, provides per scan position update
The 3D Autonomous Position system may be purchased as a GPS position reference system (without the IMU) and upgraded to primary position instrument capability (install IMU and upgrade firmware) whilst retaining all system hardware.
Functions
- Calculates the machine travel, slew angle and luff angle positions based on the GPS+INS position.
- Can be interfaced to any manufacturer’s off-board GPS reference station via NEMA standard interface.
- Provides a comprehensive range of industrial field bus interfaces for simplified integration with machine control PLC’s; including Ethernet/IP, Modbus/TCP, PROFINET and EtherCAT.
- Interfaces to the on-board machine control system via the I/O interface to provide motion positions with low latency.