Operation
Chapter 3
SMART6 User Manual Rev 3
31
Figure 15: Steadyline UAL - Out of Bounds Example
3.6
Emulated Radar (ER)
A typical radar sensor emits radio beams that bounce off the ground and computes ground speed based on
the speed at which objects are passing in front of the sensor. The output of the sensor is a digital pulse, the
frequency of which is proportional to the vehicle’s ground speed. This is often used in agricultural applications
such as planting and spraying. The SMART6 eliminates the need for separate ground-sensing radar
equipment by converting the GPS-derived velocity to proportional frequency output. The following emulated
radar signal parameters can be configured by the customer:
•
Frequency Step: Specifies how the frequency output relates to the vehicle speed.
•
Signal Update Rate: Specifies how often the frequency output is updated to match the vehicle speed.
•
Response Mode: Specifies how quickly changes in velocity are reflected in the frequency output.
Setting a slower response mode reduces spikes (noise) in the velocity but increases latency.
Setting a higher response mode reduces latency, but may result in noisier frequency output.
Refer to
RADARCFG Configure the ER Output
on page 67 for more detailed information.
After it is configured using the RADARCFG command, Emulated Radar (ER) pulses are output through the
SMART6 cables (see
Table 5, SMART6 Communication/Power Cable Pin-outs
RADARSIGNAL ER Signal and Position Information
A
The position type is OPERATIONAL.
Higher accuracy corrections are lost. The receiver changes to a lower accuracy solution.
Steadyline operates in Maintain mode while solution accuracy remains within the Operational limit.
B
The solution accuracy exceeds the operational limit. The position type changes to WARNING.
The Steadyline mode changes from Maintain to Transition.
C
The solution accuracy exceeds the warning limit. The position type changes to OUT_OF_BOUNDS.
Steadyline is disabled.
Operational
Limit
Warning
Limit
Operational
Limit
Warning
Limit
A
B
C