Presentación del tema: "Master Training Mexico 2010"— Transcripción de la presentación:
1Master Training Mexico 2010 SF3000Master Training Mexico 2010
2Monitores Actuales GreenStar™ GreenStar™ Systems ReviewProvide an overview of the available GreenStar displays.Please use the following resource for discussion about GreenStar™ capabilities:GreenStar Display Compatibility Chart (Available via the Ag Sales Manual- Key Features link for the 2600).As of April 28th the chart has the following discrepancies:- GS does have an optional display control- GS is now compatible with the Lightbar as of the latest software version.The original display is compatible with SprayStar™ SeedStar™ and SpreadStar™ but, not the newer versions for example SeedStar2.(all displays are compatible)- Be sure to mention the GreenStar™ Lightbar as an option for parallel tracking.
3Receptor StarFire™ 3000 StarFire™ Receivers Review Instructor: Please review the key features for each receiver. Please reference the AG Sales Manual for supplemental information.StarFire™ 300:The StarFire™ 300 receiver is an entry-level Global Positioning System (GPS) with an integrated antenna for mounting on top of the cab. The receiver utilizes signals from the US-government operated Global Positioning System (GPS). The receiver is capable of receiving differential corrections via satellite to provide a more accurate position. In North America, the US provides the Wide Area Augmentation System (WAAS) differential corrections. The European Union provides similar data through EGNOS.It provides position, velocity, and time (PVT) updates to the GreenStar system. The PVT data is made available through the CAN interface and also through the RS232 interface using standard NMEA format. In addition, the unit provides a simulated radar speed output.The StarFire™ 300 is capable of outputting a simulated radar speed for rate controllers and planter monitors.StarFire 300 is a versatile WAAS receiver featuring 13-in. pass-to-pass accuracy. It is a perfect solution for applications such as: Parallel Tracking™ (manual guidance)DocumentationField Doc™Harvest Doc™Map-Based PrescriptionsStarFire 300 limitations : No terrain compensationNo access to SF1, SF2, or RTKCannot perform AutoTrac™Swath Control Pro™ is not recommendedRequires Software Update or newer for compatibility with the Original GreenStar™ DisplayStarFire™ iTC Receiver The StarFire™ iTC Receiver is a twelve channel, dual-frequency differential GPS receiver with integrated Terrain Compensation (iTC). The twelve channel engine picks up signals from the Global Positioning System satellites and from the John Deere differential correction network. Using these signals, the StarFire™ receiver can pinpoint it’s location with exceptional accuracy.Discuss the L1 and L2 frequencies:L1C is a civilian-use signal, to be broadcast on the same L1 frequency ( MHz) that currently contains the coarse-acquisition signal used by all current GPS users.Civilian L2 (L2C)The L2C signal broadcast on the L2 frequency ( MHz). It is transmitted by all block IIR-M and later design satellites.The L2C signal is tasked with providing improved accuracy of navigation, providing an easy-to-track signal, and acting as a redundant signal in case of localized interference.The immediate effect of having two civilian frequencies being transmitted from one satellite is the ability to directly measure, and therefore remove, the ionospheric delay error for that satellite.
4StarFire™ 3000 – Mejoras del Receptor Compensación del Terreno MejoradaMejor adquisición de satelitesMejor resistencia a la “sombra”Aumento de disponibilidad de satelitesActivaciones En-el-AireStarFire™ 3000 Receiver EnhancementsThere are 4 features the SF3000 receiver has that have been improved since the iTC receiver.Improved terrain compensationBetter satellite acquisitionBetter resistance to shadingIncreased satellite availabilityOver-the-Air Activations
5StarFire™ 3000 vs. StarFire™ iTC Discuss key feature differences between the iTC and the This is a high-level summary. The technical aspects of these features will be discussed throughout the course material.This chart is available in the student workbook.Key items:Terrain CompensationSatellite ConstellationsGLONASS Activations are included (RTK for original release)
6Módulo de Compensación de Terreno (TCM) Declive (grados)Error Esperado(Pulgadas)12.224.336.448.6510.8612.9715.1817.3919.51021.7Errores Potenciales sin TCMCon TCMSin TCM6
7Teoría de Compensación de Terreno (Receptor iTC) Terrain Compensation Operational Theory (iTC)Instructor note: Use discretion as you discuss the following information. It may not be necessary to provide this level of detail to students unless asked specifically.The iTC uses Roll and Yaw to determine its position relative to the earth’s surface.The iTC uses a combination of gyros and accelerometers to calculate vehicle dynamics which are then used in the TCM. Basically the gyros measure movement in the horizontal plane (yaw) and accelerometers measure roll. The accelerometers do indeed monitor ambient temperature and use that information to compensate for changes in resistance in the circuits. What it amounts to is that the receiver has a table of different correction values based on temperature fluctuation for the electrical signals it uses. So it can say “Air temp is X degrees, according to this variance curve my signal from the accelerometer will be affected by Y milli-volts” and apply that correction.The TCM takes all of this and translates the receiver position into an actual position on the ground. This is where the triangles come in and where the familiar explanation of the TCM starts. If a tractor is sitting on a sidehill of a certain slope (calculated above), it is a simple trig function to transpose the receiver’s position to a centerline on the ground under the vehicle. Of course, the vehicle is moving, so both the dynamics calculations and the subsequent adjusted position calculations are iteratively revised to keep up with the changing conditions.The gyros are not temp-compensated; since they have a constant heading that they are supposed to be aiming at as the tractor moves, the receiver can determine if they’re reporting a yaw that’s consistently off by a certain amount and remove that bias in its position calculations. Also, some of this information is used elsewhere in addition to the TCM. Yaw and more importantly yaw rate are measurements that AT has the ability to react to. So if the AT controller sees that yaw rate changes significantly, it will more than likely see a heading and/or tracking error before very long. It is AT’s way of sort of peeking around the corner and anticipating what will happen next.Ask / discuss the following questions:Question: How does the TCM impact AutoTrac™ accuracy?Answer: It compensates for cab roll due to rough terrain or side slopes.Question: Is it important to properly calibrate the TCM? Why?Answer: It is crucial that the TCM is set up and calibrated properly. An improperly calibrated TCM will change the effective location of the StarFire receiver on the cab, causing skips or overlaps as you travel through the field.
8Teoría de Compensación de Terreno (StarFire™ 3000) Terrain Compensation Theory (StarFire™ 3000)The SF3000 will respond faster and more accurately to changes in terrainInertia Measuring Unit (IMU):Works with the TCM to provide better accuracyiTC: Asks if the vehicle is level (yes/no answer)SF3000: Asks if it is level or not and by how much it is off to compensates for it.The StarFire™ 3000 includes the calculation of Pitch during the calibration procedure. It is this additional measurement that requires the machine to be on flatter ground than an iTC. It will be more sensitive to ground conditions than the iTC.3 axis terrain compensation and calibration procedure picky/more sensitive – refer to OM as need to complete process in the steps. If calibration has not been done properly , a pop-up screen will appear on the GS2 letting the user know what they did wrong and how to correct it. Hi-low voltage error code will also be displayediTC only measures Roll and Yaw3000 measures Pitch, Roll, and Yaw
9Adquisición de Satelites y Resistencia a la “sombra” Actualizaciones en Hardware y softwareNueva antena interna de GPSVista de satelites desde 5 grados arriba del horizonteMetodo de adquisición de satelites actualizadaUltimas actualizaciones minimiza poteciales errores y perdidas de señalSatellite Acquisition and Shading ResistanceNew hardware and software technology allow the sf3000 to acquire satellites and resist shading better than what iTC customers were experiencing.The SF3000 receiver has a lower look angle off the horizon allowing the SF3000 to use satellites in its solution that were once not available with the iTC. Having more satellites in the solution also mitigates the risk for shading issues due to tree lines or other structures.-Updated satellite tracking methods-Latest software mitigates potential for errors and signal loss
12¿Qué es GLONASS? Operado y propiedad del Gobierno Ruso. SF3000 utilizará los satélites GLONASSen correcciones RTK.Ofrece acceso a más puntosde referencia en cualquiermomento.La constelación tiene 24 satélitesorbitando alrededor de la tierra.What is GLONASSWAAS – Not GLONASS compatibleStarFire SF1, SF2 – Not GLONASS compatibleGLONASS does not necessarily improve accuracy, but it does improve the satellite availability during the times when the satellite availability is lowStarFire iTC is not GLONASS compatible**Side note: GLONASS -- Russian Version of GPS, restoration project from the cold war. There are18 satellites operational today and the Goal is to have 24 satellites by In order for GLONASS to be effective, BOTH the vehicle and differential correction source must be GLONASS compatible.
13TCM TCM – Terrain Compensation Module Esta función es una calibración previa a la operación, el sistema nos da un ángulo el cual indica que tan inclinada esta la antena con respecto a la horizontal del suelo y con esto podemos estar seguros que la corrección se da sobre el movimiento a la altura del suelo, no a la altura de la antena, que es mayor.
14Activations En-el-aire Puedes activar SF1 a SF2 o RTK sin el codigo de 26 digitosSolicita la activación a través del sitio de Stellar Support y determina una horaSe carga a través de satelitesEl receptor debe estar encendido y en busca de satélitesSolo se envía una vez la activaciónSi no se activa, emitirá una advertenciaOver-the-Air ActivationsActivate SF2 Ready or RTK without codesCustomer enters the activation request through the Stellar Support website and designates what time activation should be sentLoaded through satellite at a time designated by the customerReceiver must be powered up and tracking when activation is sentStellar only sends it once, so if customer gets sidetracked and doesn’t get the receiver going he will have to do it over againIf unsuccessful, it should throw a warningIs only for accuracy activations, not for any display-housed applications (AT, SWP, SCP, etc)
15Precisión de Señales RTK +/- 1 pulgada SF2 +/- 4 pulgadas SF1 WAAS+/- 13 pulgadasSF1+/- 10 pulgadasSF2+/- 4 pulgadasRTK+/- 1 pulgadaSignal AccuraciesDiscuss the available signal accuracies.SF1 and SF2 accuracy levels are described on a pass to pass basis measured at the receiver, within 15 minutes, 95 percent of the time. A pass to pass accuracy of +/- 10 inches could result in 20 inches of total error.List appropriate field operations for each signal accuracyWAAS:Parallel Tracking™ and documentation applications.SF1:Broad acre seeding (non row-crop guidance applications)Broad acre sprayingTillageAir SeedingSF2:Planting with Swath Control Pro™Row crop operationsRTK:Row Crop operationsStrip tillBedding
16StarFire™ y RTKStarFire™ and RTKSection Introduction slide
17Real Time Kinematics (RTK) GPSReal Time KinematicsStarFireTM RTK provides highly accurate corrections to the AutoTracTM guidance system. It utilizes a local, ground-based reference station that transmits the high-accuracy corrections to a vehicle StarFire receiver via RTK radios. Because of the proximity of the base station to the vehicle, nearly all GPS drift is eliminated, and the position is highly repeatable. In order for the base-station signal to reach the vehicle, a direct line of sight is required.Base Station Operation5 satellites are needed to engage RTK4 satellites are needed to stay engaged in RTKVehicle Operation50% of the position solution comes from the satellites50% of the position solution comes from the base station correction dataBoth are equally importantSoftware designIf there not enough satellites available, RTK will not engageIf there are enough satellites, but the correction information is bad, RTK will not engageLocked on to 6 satellites, but RTK will not engageMay not be receiving L2 data from 2 of the 6 satellites, so RTK will not engageBase Station Transmits signal at 5 Hz (5 correction packets per second) (900 MHz only) (450Mhz radio sends corrections 2 x second)Vehicle only needs 1 packet every 2 seconds to stay in RTK1 packet out of 10 is 10%Data Received can be as low as 10% without any problemsData Received Rate DOES NOT affect Accuracy!!Effective range is 12 miles.VehiculoBase StationSub inch accuracy
18Revición Red StarFire™ Conexión a TierraStarFire Network ReviewJohn Deere is proud to be the only company in the precision ag market to offer its own differential corrections through the StarFire Network. It’s true that everyone uses the same raw GPS, but differential corrections is a different story. Because John Deere owns its own network of reference stations and processing hubs, you don’t have to rely upon WAAS or go to a third-party differential corrections service.How the StarFire Network worksSeven reference stations throughout the U.S., four in Europe, three in Australia, and three in South America, receive signals from the GPS satellites.Information is sent from the reference stations to the processing hubs in Moline and Redondo Beach, CA, where corrections are generated.The corrections are then uplinked via the Land Earth Station Uplink to 3 Inmarsat satellites, which distribute the correction signal to the StarFire receivers throughout the world.GPS is being told where it is at uses Inmarsat for correctionsInstructor knowledge:**We do not own the sats, we only own Reference stations and processing hubs.***The following is for instructor knowledge… instructor discretion should be used when discussing the following information:GSBAS Importantly, GSBAS systems provide absolute positioning, meaning they do not determine position relative to some fixed point of the Earth’s surface. Instead, they determine a position within a space-based reference frame, thus they may also be considered to be within the Space Domain group.Satellite communication links are used for some dGPS systems, so the term GSBAS does not relate to the communication link used but instead describes the nature of the corrections, i.e. that they are for the satellites. This class includes:Standalone GPSWAASEGNOSMSASStarFire™Augmentation for Standalone GPS consists of satellite orbit and clock updates which are generated by the GPS Ground Control Segment and distributed to the user with an ionospheric model in the GPS signal structure. It is this basic principle of determining each error source instead of amalgamating them which distinguishes GSBAS from dGPS.Figure 1 shows the GSBAS and StarFire™ service areas and the global reference stations that are used for the StarFire™ system. The reference network infrastructure, quality of hardware, algorithm sophistication, and the speed at which this is accomplished all contribute to the robust positioning accuracy attained by the user.METHODOLOGYThe StarFire Network is a major advance from earlier ground based augmentation systems because it considers each of the GPS satellite signal error sources independently. GPS satellite orbit and clock corrections are calculated from a global tracking network of dual frequency receivers. These corrections are transmitted via Inmarsat satellite links direct to StarFire receivers, resulting in minimal data latency and worldwide operation from 75 degrees North to 75 degrees South. All StarFire receivers use a dual frequency GPS receiver that measures the ionospheric delay for each satellite. Tropospheric zenith delays are calculated from a multi-state time and position model aided by redundant satellite observables.RELIABILITYRedundant data links, geographically separated processing hubs and dual satellite uplink equipment ensure continuous reliable positioning. The system is inherently robust with the ability to calculate a full set of corrections even if multiple reference stations were to become unavailable.A global network of dual frequency GPS receivers provides raw data every second via reliable redundant data links to two network processing centers located in Torrance, (S.W., USA) and Moline, (N.E., USA). These receivers are tied to the latest realization of the International Terrestrial Reference Frame (ITRF) coordinate system. StarFire’s primary time reference is coupled to the International Atomic Time standard. The network is a fully automated continuously self-monitoring system overseen around the clock by StarFire Network operators. The GSBAS algorithmsdeveloped by NavCom are based on technology licensed from NASA’s Jet Propulsion Laboratory. Orbit and clock corrections from both processingcenters are distributed via dedicated circuits with multiple communication backups to three Inmarsat satellite uplink stations. An independent network of StarFire user equipment continuously monitors system accuracy to ensure maximum reliability.Staciones StarFire de ReferenciaCentro de Procesamiento
19Repetidores Repeaters Repeater radios can be used to improve or extend base station signal coverage around obstacles such as trees or rolling terrain. More than 1 repeater can be used with one base station, but they cannot receive signal from each other in a “daisy chain” configuration. In order to operate, a repeater must be connected to a 12-volt power source. A repeater radio can also be used as a vehicle or base station radio; however, the receiver must have an RTK Activation. The 450MHz radio does not support the use of repeaters.A repeater consists of:900-MHz RTK radioWiring harnessMounting bracketNOTE: Repeaters do NOT extend the 12-mile accuracy range of a base station. Also, make sure that a vehicle cannot see more than 1 repeater at a time, or A-B line jumps may occur.
20RTK ExtendEl tiempo que el RTK Extend dura depende de que tanto tiempo ha estado funcionando la estación base15 min - 1 hora = 2 min de RTK-ExtendMas de 1 hora = 15 min de RTK-ExtendRTK ExtendAllows an operator to continue with RTK level accuracy for up to 15 minutes after RTK radio communication is lost.This feature is an industry exclusiveEstación BaseVehiculo
21Sistema de Monitoreo de Señal StarFire™ Rojo: Precisión PobreNo receomendado para usar las aplicaciones GreenStar.Valor PDOP mayor a 4.6Menos de 5 satélites en soluciónNaranjaAutoTrac™ para labranzaOperaciones Gran EscalaValor PDOP entreMenor o igual a 5 satélites en solución* Usuarios de SF1 siempre verán el indicador naranjaGreenStar™ DisplayKey Topics:Monitoring system theory of operationVariables that determine each signal ratingApplication / uses of this toolFor more details, please reference the GS2 Guidance OM pageQuick hitters:Poor accuracy variables (red):PDOP value greater than 4.6Less than 5 satellites in solutionMarginal accuracy variables (Orange):PDOP value between 3.5 and 4.5Less than or equal to 5 satellites in solutionNormal accuracy variables (Green):PDOP value less than 3.5More than 7 satellites in solutionVerde (RTK or SF2)Operaciones de PrecisiónValor PDOP menor a 3.5Mas de 7 satélites en solución
22Herramienta Predictora de Satelites Escenario: Recibe una llamada de un cliente que se queja del deseméño del AutoTrac™. Esto parece estar sucediendo cuando opera cerca de lineas de arboles. Favor de usar la herramienta predictora de satélites para dar una respuesta adecuada.Sitio Web StellarSupport >> Quick Support menu >> Satellite Predictor ToolSatellite Predictor ToolStudent activity: 20 minutes(If students are unable to access web-site the instructor should lead the activity.)- Break students into teams of 2.They should navigate to the satellite predictor tool via the stellarsupport website.The workbook will have additional informationStudents should record their responses in the workbookDiscuss answers with classScenario:You receive a call from a customer who complains about AutoTrac™ performance issues. This appears to happen only during the morning time when operating near tree lines. Use the Satellite Predictor Tool to answer the following questions.Scenario specifics: Instructor determinedCustomer location:Dates:Time of Day:
23StarFire™ 3000 – Estado Indicador LED Estación BaseVehiculoEstadoApagadoReceptor ApagadoParpadeo RojoBajo Voltaje: El sistema tiene menos de 9 voltsParpadeo AzulN/AEstudio Rápido: Correcciones transmitidas con menos de 5 satélitesFijo AzulEstudio Rápido: Correcciones transmitidas con al menos 5 satélitesParpadeo VerdeBase Absoluta: Correcciones transmitidas con menos de 5 satélitesFijo VerdeBase Absoluta: Correcciones transmitidas con menos de 5 satelitesAdquiriendo Señal(Vehículos Solamente)Arreglo 2D/3D guardado debajo de la precisón idealStarFire™ 3000 Status LEDsDiscuss the StarFire™ 3000 Status LEDs.This chart is provided in the student workbook.