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2.3 | Positioning & Sensor Requirements

Level COMMAND uses GNSS positioning data, machine geometry information, and implement orientation feedback to calculate target elevations and automatic control corrections.

Depending on machine configuration and enabled functions, the system may require:

  • RTK GNSS positioning,
  • vehicle heading information,
  • Cross-Slope feedback,
  • machine geometry offsets,
  • and compatible COMMAND hardware interfaces.

GNSS Positioning Requirements

Level COMMAND receives GNSS positioning information through the COMMAND ECU.

GNSS positioning data is used to determine machine location, implement elevation, and terrain position relative to the active design surface or plane.

Automatic control operation requires stable RTK-quality positioning suitable for precision terrain-control applications.

If GNSS quality falls outside configured operating limits, automatic control operation may be restricted or disengaged.

Heading Information

Vehicle heading information is used to determine machine movement direction relative to the active terrain design.

Heading information is typically supplied through GNSS data received by the COMMAND ECU.

If dedicated heading information is unavailable, the system may determine movement direction using positional change during vehicle movement.

Cross-Slope Feedback

Machine configurations supporting automatic Cross-Slope control require compatible implement roll-angle feedback.

Cross-Slope feedback is used to determine implement orientation relative to the active design surface and commanded Cross-Slope target.

Supported Cross-Slope feedback sources currently include:

  • T3RRA TARS IMU systems,
  • and compatible StarFire internal roll-angle sensors.

Invalid or unstable Cross-Slope data may prevent automatic control engagement or cause automatic control disengagement.

Machine Geometry & Offsets

Level COMMAND uses configurable machine geometry information to calculate implement position relative to the GNSS receiver location.

Depending on machine configuration, offsets may include:

  • sensor height offset,
  • lateral offset,
  • and fore/aft offset.

Incorrect machine geometry configuration may result in inaccurate implement positioning or automatic control behaviour.

Sensor Stability & Control Protection

The COMMAND hardware platform continuously monitors positioning and sensor information during operation.

Automatic control engagement may be prevented, or automatic control may disengage, if:

  • GNSS positioning becomes invalid,
  • sensor information becomes unstable,
  • positioning changes exceed configured operating limits,
  • hydraulic faults are detected,
  • or operating conditions fall outside configured control thresholds.

These protections assist in maintaining predictable implement behaviour during automatic control operation.

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