1. Terralite 101

2. Agenda Novariant Mining Process Terralites – XPS Transmitters
Signal Loss
Geometry
Terralite constellation components
Augmentation
Terralite constellation Designs
RTK
Site Analysis

3. Precision Positioning
About Novariant, Inc.
Novariant is the premier industrial solutions provider for precision positioning, intelligent machine control, and positioning infrastructure systems. 
Precision Positioning
Positioning
Infrastructure
Machine
Control Systems
Automated Steering
24/7 Coverage
RTK Positioning with Orientation
Novariant is the premier “industrial” solutions provider for precision positioning, intelligent machine control, and positioning infrastructure systems.
This presentation will show how these core technologies form a unique and compelling positioning solution. But first, we will give you some background about Novariant, Inc.

4. Novariant History & Milestones
Novariant, Inc. (formerly named IntegriNautics) emerged from the Stanford University GPS Laboratory in 1994 to pursue research and development for precision vehicle control systems.
Novariant was founded in 1994 under the name IntegriNautics. The company was born from the Stanford University GPS Laboratory, under the direction of Bradford Parkinson, who co-invented the NAVSTAR Global Positioning System with the late Ivan Getting.
GPS is considered to be the first “positioning infrastructure,” enabling military, recreational, and commercial users around the world to enjoy its seemingly endless benefits.

5. Novariant History & Milestones
1995 First to land a Boeing 737 with RTK GPS technology
First Logic7D control system used in aviation
First independent infrastructure (pseudolite)
1995 First indoor positioning infrastructure with pseudolites
1999 Launch of AutoFarm Agriculture Division
First commercial GPS automated steering system
First color touch screen vehicle control system
Novariant is proud to have many industry "firsts" and award winning achievements through its continued innovation:
In the “exacting” world of aviation, where precision and control has life or death consequences, Novariant solutions were used to land a Boeing 737 for the FAA. In addition, the company developed a unique landing system for the X-31 fighter plane – enabling short runway landings.
Novariant also developed a pseudolite “positioning infrastructure” used for location-based services in Tokyo, Japan to provide reliable GPS coverage in “urban canyon” environment.

6. Novariant History & Milestones
2000 First Urban Canyon pseudolite infrastructure for location based services in Tokyo, Japan
2000 AutoFarm AutoSteer (GPS 5000 RTK) automated steering system offers sub-inch accuracy
2002 AutoFarm AutoSteer (GPS 5001 RTK)
First integrated multi-antenna GPS receiver (Quasar)
The AutoFarm Agriculture Division of Novariant was formed in 1999, launching the first commercially available “auto steering” system in agriculture.
In addition to delivering the precision and accuracy needed to automatically steer heavy machinery, Novariant developed an easy-to-use system that tractor operators can use, with no advanced training required. This is achieved with a cab-mounted touch screen that is intuitive and easily localized.

7. Novariant History & Milestones
2003 AutoSteer for InterModal container transportation
VirtualRail automated steering for gantry cranes
2004 Integrinautics changes name to Novariant
2004 (Sept.) Novariant announces Terralite XPS system for mines
Novariant technologies continue by extending solutions into other markets for steering cranes for container transportation. Our recent software advances enable “record & repeat” functionality to steer vehicles along complex arbitrary paths.
Finally, after a successfully history under the name “IntegriNautics,” the company changed its name to Novariant in August 2004.

8. Novariant History & Milestones
2005 Introduction of remote monitoring solutions for Terralite™ XPS - ensuring guaranteed up-time for open pit mining operations.
2005 Release of OnTrac™ mechanical drive steering
2006 Introduction of the first-ever implement steering system based on RTK GPS - AFTracker™ - developed in partnership with Orthman Manufacturing.
Introduction of remote monitoring for Terralites

9. Novariant History & Milestones
2006 Dual-antenna MX100 GPS/XPS receiver available for mining applications, including drills and shovels.
2007 AutoFarm announces the FarmPRO™ GPS Steering & Application Control System.
2008 AutoFarm announces AF-Viewer II software developed in partnership with Farm Works
2008 AutoFarm launches new OnTrac2 GPS Assisted Steering System
Dual Antenna for XPS capability

10. Video of plane landing ?

11. Trimble Acquires Novariant Mining
Oct 08, 2010 /PRNewswire via COMTEX News Network/ -- Trimble (Nasdaq: TRMB) announced today it has acquired the Terralite assets from Novariant to expand its portfolio of positioning solutions. Financial terms were not disclosed.
Trimble is now the owner for the Terralite XPS system.

12. Common Mining Processes
Prospect
Product =
Copper, Gold, Diamonds, Etc.
Survey
Extract/
Process
Plan
Haul, Dump
Drill, Blast
High precision Position is essential for Survey, Planning, Drill and Blast and Shovel
Shovel
All these steps need to know where you are and where the ore is located.

13. What are Terralites? Terralites are a Ground-based signal generators.
They are used in conjunction with GPS and Glonass satellite constellations
They are used for 24/7 Real-time Augmented positioning coverage.
The Terralite XPS constellation works by installing 6 or more Transmit Stations, or “Terralites,” around the rim of the pit. Terralites broadcast a new positioning signal, called XPS, to mobile receivers mounted on machines.
These unique GNSS+XPS receivers are capable of processing XYZ position data using a combination of GPS and Terralite signals. Although it is a rare occurrence, the Terralite XPS system will provide accurate data even in the total absence of GNSS signals.

14. What features do they have?
A new positioning signal
Broadcast by each Terralite XPS Transmit Station
Single channel XPS code/carrier
Does not consume GPS or Glonass bandwidth
Typically requires governmental approval for site use
Not susceptible to typical interference of license-free bands (e.g. 900MHz, 2.4GHz)
Self surveying
Terralites are self surveying, just position them and point them.

15. What do they do? Terralites transmit an XPS signal.
XPS (Extended Positioning Signal)
The XPS signal is a licenced frequency
A licence frequency means that you will not have signal interference
The signal is in the X band range
XPS is a licenced frequency, this means that you will not have interference from other devices and you are protected by law for the use of this frequency. 2.4 GHZ is a legal free to air frequency that anyone can legally use and you can not prevent them from using it.

16. Why do we need them?
Satellite signals are required to provide ranges. These ranges are intersected to provide a position. If you do not get sufficient signals you will not be able to obtain a position.

17. Signal loss One Day More than 4 GPS can WORK
A minimum of 4 satellites are required to maintain a solution. 5 satellites are required to obtain a solution. Realistically in mines 5+ satellites would be required for a solution. However it is not just satellite numbers which need to be considered. We also need to be aware of there geometry.
Under 4 satellites GPS DOES NOT WORK
One Day

18. Satellite Geometry Poor Geometry Good Geometry
You can imagine errors on a measurement resulting in the ΔMeasuredData term changing. Ideally small changes in the measured data will not result in large changes in output location, as such a result would indicate the solution is very sensitive to errors.
, the relative satellite-receiver geometry plays a major role in determining the precision of estimated positions and times. Due to the relative geometry of any given satellite to a receiver, the precision in the pseudorange of the satellite translates to a corresponding component in each of the four dimensions of position measured by the receiver (i.e. x, y, z, and t). The precision of multiple satellites in view of a receiver combine according to the relative position of the satellites to determine the level of precision in each dimension of the receiver measurement. When visible GPS satellites are close together in the sky, the geometry is said to be weak and the DOP value is high; when far apart, the geometry is strong and the DOP value is low.

19. DOP Values
An indicator of satellite geometry for a unique constellation of satellites used to determine a position. Positions tagged with a higher DOP value generally constitute poorer measurement results than those tagged with lower DOP. There are a variety of DOP indicators, such as GDOP (Geometric DOP), PDOP (Position DOP), HDOP (Horizontal DOP), VDOP (Vertical DOP), etc.

20. Trimble Terralite Constellation
Essential elements to the Terralite Constellation
Terralites
Reference station
Receiver
Antenna
Satellites
AX100G
Reference Station
GNSS + XPS Receiver

21. Terralites - TX100 XPS Transmit Station Automatic self-surveying
Rugged, sealed enclosure
12 Volt DC operation
In built Ethernet port
USB and serial connections
Terralites are transmit stations that survey themselves, thus allowing for easy and quick relocation.

22. IX100G GNSS/XPS Reference Station
• All-in-view GNSS (GPS and GLONASS) plus 8 channels XPS tracking
AX100G: Quad-frequency L1/L2/GLONASS/XPS antenna
• 1 or 2 IX100G Reference Stations can be used to optimize positioning coverage at
the surface and deep in the pit
• 1 Hz differential corrections to unlimited MX100G receivers
• 8 status LEDs
• 2 RS-232 serial ports
• Ethernet port
• Configurable via TCP/IP and web browser
• Compatible with leading brand radio systems
• Configurable for single constellation or Terralite Network Constellation
IX100G is the provider of corrections and is an integral part of the system. Network communications must be excellent to and from this device.

23. MX100G Receivers
All-in-view GNSS (GPS and GLONASS) plus 8 channels XPS tracking
• AX100G: Quad-frequency L1/L2/GLONASS/XPS antenna
• Up to 5Hz position updates
• 8 status LEDs
• 2 RS-232 serial ports
• Ethernet port
• Configurable via TCP/IP and web browser
• Compatible with leading brand radio systems
Use satellites and XPS signals to provide a position. Wireless Networks need to be excellent in order to reliably supply the RTK correction.

24. AX100G - Antenna GPS / Glonass / XPS capable Antenna
XPS interface connector
GNSS interface connector
Powered by IX / MX100G
Circular Ground plane plate
Multiple band antenna. The only XPS capable antenna.

25. How Augmentation works
Augmentation means that the system uses the available satellite signals and supplements them with XPS signals.

26. Augmentation
The Matrix above shows the minimum number of signals required for a solution
The Matrix presented here shows the augmentation required for different numbers of satellite signals available. It assumes that there is good geometry provided by the satellites and Terralites. The Matrix above is the GNSS matrix. A solution may be available with one less satellite if all the satellites are GPS or Glonass. However there still needs to be a minimum of one satellite available.
Manual A Page 41

27. Terralite constellation designs
There are three Constellation designs
Basic
Standard
Network
The Matrix above shows the functionality of the three constellation designs. Depending on your sites topography and mining schedule a particular constellation will be preferred.
Manual A Page 10

28. Basic Constellation Manual 602-0077-02-A Page 61
The Basic constellation uses a single base station and can track 6 Terralites. Any satellites not visible to the reference station can not be used.
Manual A Page 61

29. Standard Constellation
The standard Constellation uses two reference stations. One primarily for XPS signals and one for GNSS signals.
This constellation should allow for any visible signal to be used by the machines.
Manual A Page 63

30. Network Constellation
The Network Constellation uses N+1 reference stations. Where N is the number of pits. Each pit will have a base to receive XPS signals and an additional one for GNSS signals. Using the Network constellation a machine can go from one pit to another pit and use the appropriate XPS base for its location.
Manual
A Page 65

31. Autonomous Solution
Errors due to the Ionosphere, Troposphere, Satellite Clocks and Orbit information reduce the position accuracy.
A non corrected position is an Autonomous position.
An autonomous position would have an accuracy greater than 4m.
Autonomous solutions are not accurate enough for machine use. In order to improve the accuracy we use a correction that accounts for the affects of most of the errors.

32. RTK Correction Real Time Kinematic
RTK (Real Time kinematic ) uses the fact that the same errors will be common to points within km of each other. The RTK Base Station is installed and the antennas position is surveyed. The RTK Base now has a known position. The RTK Base station uses the incoming satellite to calculate a correction. The difference between the known point and the autonomous position from the satellites is the amount we need to correct. This correction is sent to the RTK receivers. The receivers apply the correction and their position goes from autonomous accuracy to RTK accuracy. From m to a couple of centimetres.
Thus for an accurate position we need to have enough satellites for a solution and the RTK correction.

33. RTK Delivery
Reliable RTK delivery is required or the receivers will not be in a high precision mode.
RTK delivery is provided by mine duty wireless IP radios.
Expected typical RTK throughput is greater than 99%.
RTK delivery is a very important aspect to the success of the system. Excellent wireless network coverage is required.

34. Terralite options • Solar power station for continuous operation
• 28 foot trailer mounted mast
Solar cells Two (2) 130 Watt panels
Batteries Four (4) 105AH Deep cycle AGM
Power Supply 12v 4.2 Amp
Charge Controller 10 Amp
with low voltage disconnect
Weather Tight Battery Enclosure
Trailers are available for purchase, these trailers have been custom designed for the Terralite infrastructure.

35. Terralite Performance
Terralite XPS Transmission . 1 Channel XPS transmission
Terralite XPS Signal Transmit Range. Typical transmit
range of 6.5 km (configuration and site dependent)

36. Terralite Technical Data
Dimensions & Weights
654 mm (L) x 610 mm (A) x 323 mm (H)
Weight kg
Power. 24 W, 10 to 34 VDC
Operating. –20 ºC to +60 ºC
Storage. –30 ºC to +80 ºC
Humidity. . Humidity 100% condensing
Sealing . Dustproof, weather sealed enclosure
EMC. Emissions: FCC Part 90 & Class A
FCC Part 15 Class A

37. Site Survey
In a Site Survey analysis, the mine company provides to Trimble:
•A three-dimensional mine map for every stage of the mine plan to be analysed.
•A list of areas in the mine where equipment will typically be working.

38. Site Survey Field Work Obstruction survey
Locations recorded with 360° vertical angle observations of obstructions.
Note dumps, infrastructure and topography which may not be on the 3D models provided by site.
Locations, Field of view, Access, Power, Safety concerns and open Sky for Terralites
Locations, Access, Power, Safety and open sky for Reference stations
Machine mountings and cable lengths
Wireless network coverage

39. Site Report
Trimble conducts an analysis and provides a report to the mine, which includes:
•The expected availability of a positioning sensor, when only GNSS satellites are used for the solution, for each stage of the mine plan (and thereby showing potential room for improvement by installation of Terralite infrastructure).
•The type of Terralite constellation that best meets the needs of the mine at each stage. For example, a Standard constellation or Network constellation.
•The locations of the Terralite transmitters and Reference Stations for each stage of the mine plan.

40. Site Analysis
Using the site pit shells we can simulate the satellites visible from all points within your mine using the mine terrain as an obscurity mask. We use a grid to determine the points in the mine. The grid spacing can be anything of our choosing but we would tend to use around a 20m spacing depending on the area to cover. For every point in that grid the simulation records the GPS and Glonass satellite data including all DOP values and records it into a database, observations taken every minute for a 24 hour period. Thus each point will have 1440 entries. Multiply that by the number of points and you have a very extensive site coverage analysis. The information can then be displayed visually by showing you a coloured mine plan indicating where the areas of poor coverage are.
We can also display duration information for each point. A report is provided explaining the various DOPS and coverage the mine has. We can also tailor a Terralite solution to provide up to 100% coverage.