1. Vehicle guidance From horses to GPS Jorge Heraud and Arthur Lange Trimble Navigation Ltd. June 2009

2. The greatest challenge  This generation of engineers and scientists will need to solve the toughest of problems ever encountered –Energy shortage, Food shortage, Fresh water shortage, Global Warming  “Today more than ever before, Science holds the key to our survival as a planet and our security and prosperity as a Nation” Barack Obama, Dec 20, 2008  I will show you, how previous generations rose to tough technical challenges

4. For today  History of automatic steering  Modern automatic steering  Why GPS guidance so widely used

5. History of manual guidance as seen through patents

6. 1870 - row marker for single-row horse powered plowing

7. 1876 - Two-row corn planter with row marking

8. 1953 – Cabled double row marker 1963 – Cabled folding row marker

9. 1921 – Looking through the tractor 1951 – Front mounted visual aid

10. 1951 – Double hood mounted visual aid 1990 – Windshield and hood visual aid

11. 1976 – Visual aid for implement guidance

12. 1970 – Electronically marking system

13. 1987 – Paper tissue marking system Tissue paper roll goes here

14. History of automatic guidance as seen through patents

15. 1885 – "Furrow pilot”

16. 1914 – Improved furrow follower

17. 1949 – Movable furrow follower

18. 1941 – Spiral guidance

19. 1970 – Safety stopping mechanism

20. 1976 – Automatic system to steer harvesters

21. 1976 – Crop feelers using strain gauges

22. 1996 – Rocking sensors boundary detection 1998 – Ultrasonic sensor boundary detection

23. Modern Automatic Steering systems

24. GPS based systems are now the norm for automatic steering  Manual GPS started around 1995  Automatic GPS started in 1997 –Hydraulic, steer-by-wire, CAN, electric motor

25. Why is GPS guidance so widely used

26. GPS guidance doesn’t accumulate errors Prior pass guidance Visual aides, row markers, foam markers Fixed pass guidance GPS, strings when planting orchards Skips Overlaps Re-start

27.  Savings of 10%+ on skips and overlaps –Just drive to get the savings  Operate at faster speeds, at night  Reduced fatigue, convenience  All field patterns  All terrains  Facilitates / enables new practices –Strip till, band spraying, drip tape, strip- intercropping  Reduces need for additional on farm labor –Performance not skill dependent –“Grandpa is planting again” Convenient embodied technology with a quick payback

28. GPS guidance enables precision Ag

29. Automatic section control Headland Reaction time Overlap area Automatic section control minimizes overlap and slow down Manual shutoff Overlap cut down by 75% Automatic 3 section shutoff Overlap eliminated Automatic shutoff row level

30. Automatic section control  Field NOT Using Air clutches  Field Using Air Clutches

31. Ag Journey

37. Innovation

38. Automated Guidance Implement Guidance Variable Rate Overlap Switching Data Transfer 12.0% 3.0% 7.3% 4.6% ? 12.0% Total Savings Value Proposition 15.0%22.3%26.9%>26.9% Engineers working on Automatic Guidance and Precision Agriculture have increased productivity by 26.9% in the last 14 years The Ag Engineering community is ready for the next challenge

39. GPS and GNSS review

40. GPS 2. Satellites transmit ranging signals & orbit info 3. Position, velocity, & time computed from range measurements and data message 1. Atomic standards in satellites (4 needed) Each SV transmits signals and data that are received by the rover (user equipment). This allows the rover to measure the distance to each SV. These are the ‘Pseudoranges’ In 3-=dimensions, it takes 4 Pseudoranges to calculate the position since time at the rover is also a variable. A GPS receiver measures Position, Time, and Velocity. The velocity measurement is independent of the position measurement and is based on the Doppler.

41. Increasing GPS accuracy Base station - a high performance GPS receiver placed in a fixed location whose position is accurately known. The GPS measured position is compared sec by sec against the known position, and an error calculated. This error is assumed to be the same error at the rover, and is sent to the rover as a ‘differential correction’. Rover adds error to its measured position to obtain the corrected position Error data is sent to rover with radio Autonomous GPS = 2 meters Differential GPS = 0.5 meters RTK (5 SVs) = 0.02 meters Four or more satellites viewed by two receivers

42. GPS Operational GPS Satellites  Current Satellites: –25 IIA/IIRs:  10 Final Clock*  2 will be decommissioned Spring 09 –6 IIR-Ms: (L2C)  Launch planned Mar 09, Aug 09 (with L5 enabled)  Future Satellites –GPS Block IIF (L5)  IIF-1 launch Oct 2009 –GPS III  Launch 2014  24 satellites by ~2021

43. GPS Modernization Benefits  GPS IIR-M L2C (1227 MHz) –Improved L2 signal measurement – slight improvement to IONO measurements  GPS IIF L5 (1185 MHz) –Improved RTK Acquisition –Improved DGPS accuracy  Higher chipping (10^7)  Better ionosphere modeling –Increased Power Level  Improved operation under canopy  Better SNRs  GPS III –L1C designed for interoperability with other systems (Galileo, for example)

44. GPS Accuracy and Solar Cycle

45. RTK Performance with low and high Ionosphere disturbance

46. E-W vs. N-S Accuracy

47. Global Navigation Satellite System (GNSS)  GPS –Space Based Augmentation Systems (SBAS)  WAAS, EGNOS, MSAS, GAGAN, GRAS, CDGPS  OmniSTAR, Starfire  GLONASS (Russia)  QZSS (Japan)  Compass (China)  Galileo (EU)

48. Augmentation Systems for increased accuracy  Space Based Augmentation Systems (SBAS) –WAAS - Wide Area Augmentation System (US) –EGNOS - European Geo Stationary Navigation Overlay System (EU) –MSAS - MTSAT Satellite-Based Augmentation System (Japan) –GAGAN (GPS Aided GEO Augmented Navigation) India –GRAS (Ground Regional Augmentation) AUS –Canadian DGPS –OmniSTAR XP/HP –StarFire

49. Augmentation Systems for increased accuracy  Ground Based Augmentation Systems –NDGPS MF Beacons (sub-meter) –HA-NDGPS MF Beacons (4 sites are now transmitting) 10-20 cm service (similar to OmniSTAR XP/HP) –RTK Base Stations – local radio transmitters –RTK VRS Networks – internet and cell phones  Trimble Terrasat  CORS (Continuously Operating Reference Station)

50. U.S. GPS Augmentation Update  Wide Area Augmentation System (WAAS) –Expanding monitor stations into Canada and Mexico –Two SVs at 135 and 138 for North America –WAAS satellites provide L1 and L5 ranging –WAAS provides DGPS corrections including IONO modeling  Nationwide Differential GPS (NDGPS) –DOT’s Research and Innovative Technology Administration, funding of NDGPS is still a concern

51. European Geostationary Navigation Overlay Service (EGNOS)  Status –AOR-E (120) and IOR-W (126)  Initial Operations –ARTEMIS (124)  Testing  Recommended reading –EGNOS for Professionals web site WWW.ESA.INTWWW.ESA.INT

52. Benefits of Additional GNSS  Availability –More Satellites mean better availability in difficult environments (Land Leveling in the Mississippi Delta) –Some system upgrades will have stronger signals  Reliability –More Satellites mean no outages even with individual satellite failures

53. GLONASS – the Russian GPS  Currently (January 13, 2009) 16 Operational SVs  Goal is to have a full constellation of 24 SVs by 2010

54. GLONASS and RTK  Using GLONASS SVs with RTK will help –Initialization  Less than 5 GPS SVs - having some GLONASS SVs available will aid RTK initialization –Positioning  Less than 4 GPS SVs – having some GLONASS SVs will aid positioning –Improved VDOP  Adding any GLONASS SVs will help to reduce VDOP

55. Compass (Beidou)  4 geostationary (now in place) and 30 medium orbit (MEO) satellites for global coverage  MEO launches starting early 2009  Goal mid-2010 to have 10 SVs  The Chinese Government has announced free 10 meter accuracy access to all, however, the ICD has not been published.  There is a high probability that Compass will become operational before Galileo

56. Galileo – EU GPS  Milestones –First SV launched 2005 –Operational target 2013  Fee for service will compete with “Free GPS”  Galileo will not be a factor in the Ag market for at least 3 or 4 years  Expect to see lots of “Galileo marketing” activity for the next few years  L1C to interoperate with GPS III SVs

57. Questions? Art_Lange@Trimble.com Jorge_Heraud@Trimble.com WWW.Trimble.com