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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.

Accurate positioning and sensor data are required for stable automatic control operation and reliable terrain positioning.

Depending on machine configuration and enabled functions, Levelthe COMMANDsystem may require:

  • RTK GNSS receiver positioning data,positioning,
  • vehicle heading information,
  • implement Cross-Slope feedback,
  • machine geometry offsets,
  • and hydraulic control feedback from thecompatible COMMAND hardware platform.interfaces.

GNSS Positioning Requirements

Level COMMAND receives GNSS positioning information through the COMMAND ECU.

GNSS positioning data is used to determine:

determine
    machine position,location, implement elevation, vehicle movement direction, and terrain locationposition relative to the active design surface or plane.

    Automatic control operation requires stable high-accuracy GNSSRTK-quality positioning suitable for precision terrain-control applications.

    GNSS quality directly affects:

      terrain positioning accuracy, automatic control stability, surface tracking performance, and engagement availability.

      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 and implement orientation 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, Level COMMAND may calculatedetermine movement direction using positional change over time 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.

      Cross-Slope accuracy directly affects:

        surface quality, drainage accuracy, and automatic Cross-Slope control stability.

        UnstableInvalid or invalidunstable 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.

        These offsets allow Level COMMAND to calculate target elevations and implement position relative to the active design surface.

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

        Sensor Stability & Control Protection

        Automatic control operation depends on stable positioning and sensor information.

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

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

        • GNSS positioning becomes invalid,
        • sensor datainformation 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 andduring preventingautomatic unintended machine movement duringcontrol operation.

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