Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
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Chapter 4: Software
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Antenna Height: Height of the GPS antenna above the ground. This parameter pre-
supposes that the GPS antennas are mounted at the same height and laterally in rela-
tion to the direction of travel (GPS antennas 1 left, GPS antennas 2 right). Part of the
rotary motion of the vehicle around the longitudinal axis (rolling) is then compen-
sated for by allowing for the antenna height and the rolling angle. If the requirements
for the antenna arrangement are not met or compensation is not wanted, this param-
eter should be set to zero.
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Heading offset: Angle offset between the antenna angle (between GPS antenna 1
and GPS antenna 2) and the X axis in the vehicle co-ordinate system.
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Tilt Offset: Rolling angle offset so that the tilt angle is 0 is when the vehicle is in a
straight position. See parameter 'Antenna Height' above.
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Use Own Base: The GPS can work with its own GPS base station. The co-ordinate
system then depends on the base station (the base station is the origin). Alternatively,
the national co-ordinate system can also be loaded into the GPS receiver. The
national co-ordinate system is then the reference system. It is important that any
other position sensors that are present (for example the transponder system) also
refer to the reference co-ordinate system.
The next four parameters split the area into two parts. One area is travelled preferably with
the GPS, the other with the transponder system. To achieve this, two points are defined. To
the left of the line of point 1 to point 2 is the GPS area and to the right is the transponder
area.
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Limit P1 X Co-ordinate: X co-ordinate from point 1 in the global co-ordinate system.
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Limit P1 Y Co-ordinate: Y co-ordinate from point 1 in the global co-ordinate system.
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Limit P2 X Co-ordinate: X co-ordinate from point 2 in the global co-ordinate system.
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Limit P2 Y Co-ordinate: Y co-ordinate from point 2 in the global co-ordinate system.
The next three parameters adapt the GPS co-ordinates to area to be travelled. To keep cal-
culation inaccuracies to a minimum, it is not expedient to calculate with co-ordinates that
lie hundreds of kilometres from the co-ordinate zero point. This, however, is virtually always
the case with GPS. The country-specific co-ordinate system is therefore loaded into the GPS
receiver. This results in a cartesian co-ordinate system with a zero point in the area and not
in the earth's centre. Subsequently, an offset to the area to be travelled is entered in the nav-
igation controller. In this way, the co-ordinates then usually become less than 1 km.
ATTENTION!
If the transponder system and GPS are used together, the transponders must be measured
in the same co-ordinate system that is used in the GPS.
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Transform X Co-ordinate: X offset from the zero point of the national co-ordinate sys-
tem for the area to be travelled.
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Transform Y Co-ordinate: Y offset from the zero point of the national co-ordinate sys-
tem for the area to be travelled.
