Technical Proposal of

Auto Gantry Steering System (AGSS)

Cathay Nebula Science &Technology Co., Ltd.

Jul. 2020
 Technical Proposal of AGSS

Table of Contents
1 System Introduction................................................................................................................ 1
1.1 System functions .......................................................................................................... 1
1.2 Technical specifications............................................................................................... 1
1.3 Employed technologies................................................................................................ 2
1.3.1 Satellite navigation technology ....................................................................... 2
1.3.2 Prejudgment of RTG trajectory..................................................................... 2
1.3.3 Yard GIS (Geographical Information System) Compensation ................... 2
2 System general design ............................................................................................................. 3
2.1 System logic diagram .................................................................................................. 3
2.2 DGPS base station ......................................................................................................... 3
2.2.1 Composition of base station ............................................................................ 4
2.2.2 Mechanical Installation................................................................................... 4
2.2.3 Cable connection ............................................................................................. 5
2.3 RTG mobile station ....................................................................................................... 6
2.3.1 Composition of RTG mobile station .............................................................. 6
2.3.2 Mechanical installation ................................................................................... 7
2.3.3 Cable connection ............................................................................................. 8
3 System working principle ....................................................................................................... 9
3.1 Performance of automatic steering............................................................................ 9
4 Component list....................................................................................................................... 10
5 Notes ....................................................................................................................................... 11
6 Terminologies ........................................................................................................................ 12

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 Technical Proposal of AGSS

1 System Introduction

The Auto Gantry Steering System (AGSS) by Cathay Nebula is designed and
developed to automatically steer RTG crane to travel straight and correct its trajectory
should there be any deviation. AGSS eliminates the need of operator to manually steer
the crane, therefore reduce operator fatigue for higher safety level. In this way,
operator is able to focus more on other critical conditions rather than solely on
steering. Besides, operator can take over the control any time necessary.

1.1 System functions

➢ Utilizing a combination of Global Navigation Satellite System (GNSS),

Geographical Information System (GIS) and PLC control technologies,
AGSS realizes RTG automatic steering function eliminating the need of
manual steering;
➢ Auto steering is performed only when RTG crane is travelling in 0 degree. In
case RTG is not in 0 degree, auto steering will not function.
➢ Compatible to Profibus, RS232, Ethernet interface etc. to facilitate AGSS
integration with crane PLC.
➢ Besides, system is incorporated with self-checking feature once there is
failure. Crane functionality will not be affected by such failures, and RTG
operator can take over any time necessary. Upon customer request,
authorized personnel will be allowed to turn on/off the system.

1.2 Technical specifications

⚫ GNSS position accuracy: 0.8cm +1ppm (RMS)

⚫ Steering accuracy: ±5cm，±1.0°; maximum deviation doesn’t exceed 10cm
when RTG moves in full speed
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 Technical Proposal of AGSS

⚫ System working temperature: -40°C ~ +70°C

⚫ Storage temperature: -40°C ~+85°C

1.3 Employed technologies

1.3.1 Satellite navigation technology

GNSS receiver receives satellite signal for positioning, but single-point

positioning accuracy is approximately 10m, which is not sufficient for RTG dynamic
positioning in real-time. Utilizing RTK (Real Time Kinematics) differential
positioning, the accuracy is able to reach 0.8cm + 1ppm (RMS).
The implementation mode of dual-frequency RTK differential positioning is to set
up a GPS base station at a known precise position, continuously tracking all visible
satellites, and generate carrier phase differential correction data to be transmitted to
the mobile station. GPS receiver of the mobile station receives the GPS differential
data and compares which to self-observing satellite signal data to obtain a real-time
position of the mobile station with a precision of 0.8 cm + 1 ppm (CEP).

1.3.2 Prejudgment of RTG trajectory

Based on crane real-time position and its speed and orientation, and combined
with kinematics features, AGSS is able to pre-judge RTG moving trajectory and
perform deviation correction in advance.

1.3.3 Yard GIS (Geographical Information System)

Compensation

Before system commissioning, yard geographical data is stored in GALAXY

IPC-AG controller after yard mapping. Based on the yard elevation, any positional
deviation from it can be compensated. Thus, a higher positioning and steering
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 Technical Proposal of AGSS

accuracy is achieved.

2 System general design

2.1 System logic diagram

Whole system is composed of two sub-systems: DGPS base station and mobile
station. Base station produces and broadcasts GNSS differential signal and mobile
station receives differential signal for accurate crane positioning and automatic
steering.

GPS differential wireless link GPS antenna

GPS antenna

GALAXY
Wireless IPC-BS
RTG Radio
Electric house GALAXY
Left Rotary IPC-AG
encoder

Right Rotary
encoder

UPS

DGPS BASE UNIT

PLC Wireless
Radio

Diagram 1 System Logic Diagram

2.2 DGPS base station

DGPS base station produces and broadcasts GPS differential data via radio link,

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 Technical Proposal of AGSS

which covers the whole terminal.

2.2.1 Composition of base station

DGPS base station is composed of GALAXY IPC-BS receiver, GPS antenna,

digital radio with antenna, power module, etc. The receiver receives GPS signal and
system calculates for the differential correction data and sends out via radio link.

2.2.2 Mechanical Installation

Base station antenna should be mounted in a wide-open position without shelter

in the neighborhood. Also there should be no obstruction and electromagnetic
interference in 200 meter radius. Base station covers an operation area of 10km radius,
which means normally one terminal requires only one base station. Radio antenna
should also be mounted in an open area, eg. building roof. Cabling of GPS and radio
devices routes to indoors and connects GALAXY IPC–BS receiver. Receiver is
powered by AC 220V supply.

Diagram 2 Installation of base station GPS antenna

Base station unit box is fixed on the wall with screw bolts. GPS and radio antenna

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cables connect into the unit box, which is powered by AC 220V power supply.

Diagram 3 Installation of base station unit box

2.2.3 Cable connection

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 Technical Proposal of AGSS

RF Antenna GNSS Antenna

Arrester Arrester

Wireless
GALAXY IPC – BS
Radio

UPS AC220

Cable #1,2：antenna cables； #3: power cable；#4 radio cable

Diagram 4 Cable connection diagram

2.3 RTG mobile station

2.3.1 Composition of RTG mobile station

Central component of Auto Gantry Steering System is GALAXY IPC–AG

controller, which integrates information from computing unit, GPS receiver and radio.
Controller receives DGPS data from base station for crane positioning and combines
information from crane/trolley/hoist encoder for an integrated calculation. Controller
sends also commands to crane PLC.

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2.3.2 Mechanical installation

Two GPS antennas are mounted on top of RTG in E-room side parallel to crane
beam and two antennas should be mounted in same height. Radio antenna is mounted
on top of E-house side rack. GPS and radio cables are routed to system unit box in
E-house along crane frame structure through internally. System unit box is powered
by AC 220V power supply and connects to crane PLC.

Diagram 5 Installation of mobile station GPS antennas

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 Technical Proposal of AGSS

Diagram 6 AGSS unit box installation

2.3.3 Cable connection

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 Technical Proposal of AGSS
RF Antenna
GNSS Antenna

Arrester Arrester

PLC
Wireless
GALAXY IPC – AG communication
radio
module

RTG
Electric house 12VDC

#1,2,3: antenna cables; #4:data cable; #5: power cable

Diagram 7 Cable connection diagram

3 System working principle

3.1 Performance of automatic steering

Prior to system commissioning, yard geographical data, including orientation,

yard lines and its coordinates are pre-configured into GALAXY IPC–AG controller.
When RTG crane is travelling, system detects gantry position and travelling direction,
and calculates the deviation from yard lines in real-time. In case or before deviation
happens, system sends signal to crane PLC to correct its moving track, therefore
realizing automatic steering function.

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Diagram 8 AGSS system running status

With two GPS antennas, we can detect the moving deviation and its value
accurately. And before the deviation even occurs, automated steering performs to
prevent that in advance.

4 Component list

No. System Product code Specifications Qty.

One base
station is
DGPS base GTXY-GNSS-
1 GALAXY IPC-BS base station sufficient
station BS
for whole
terminal.
Sensing and communication unit: GPS
antennas, radio station, radio antennas,
etc.
Auto Gantry
Control unit: GALAXY IPC–AG
2 Steering System 1/RTG
GTXY-DGPS controller
(AGSS)
Accessories: unit box, communication
module, differential link, power
module, network switch, etc.

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Software: GALAXY SPPC V1.0

5 Notes

Cathay Nebula supplies only DGPS base station and on-board mobile station, the
rest, such as terminal map, TOS protocol/module, radio frequency are provided by
end user. PLC program should be made available from crane manufacturer. DGPS
auto steering and position determination work depending on satellite positioning from
six or more satellites. Functionalities might be compromised in case of signal block or
loss, eg. antenna obstruction under STS, etc.
As the picture shows, GPS signal might be blocked in both section A and B when
GPS antennas are fully or partially blocked by STS crane.
In a similar way, DGPS base station as the essential part, relies also on satellite
signal. Therefore, base station should be mounted in wide open area without block
from GNSS satellites.

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6 Terminologies

RTG：Rubber Tyred Gantry

GPS：Global Positioning System
DGPS：Differential Global Positioning System
RTK：Real - time kinematic
TOS：Terminal Operation System
PLC：Programmable Logic Controller
AGSS：Auto Gantry Steering System
PDS：Positional Determination System
VMT: Vehicle Mounted Terminal
RDT: Radio Data Terminal

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