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1AUTOMATICSTEERINGSYSTEMFORROTARYSNOWREMOVERSHIROFUMIHIRASHITA,TAKESHIARAI,TADASHIYOSHIDAADVANCEDTECHNOLOGYRESEARCHTEAM,PUBLICWORKSRESEARCHINSTITUTE16,MINAMIHARA,TSUKUBACITY,IBARAKIPREF,JAPAN,3058516TEL81298796757FAX81298796732EMAILHIRASITAPWRIGOJP,ARAI0333PWRIGOJP,YOSHIDAPWRIGOJPABSTRACTINCOLDANDSNOWYPARTSOFJAPAN,MOSTSNOWISREMOVEDFROMROADSBYMECHANICALSNOWREMOVERS,ANDTODEALWITHROADSIDECONDITIONSANDGUARANTEESAFEOPERATION,THESEMACHINESARENORMALLYOPERATEDBYTWOPEOPLEANOPERATORANDANASSISTANTWORKISINPROGRESSTODEVELOPAUTOMATICSTEERINGSYSTEMSFORSNOWREMOVERSINORDERTOLIGHTENTHEBURDENONSNOWREMOVEROPERATINGSTAFFANDTOREDUCEFUTURELABORREQUIREMENTSTHISREPORTDESCRIBESANAUTOMATICSTEERINGSYSTEMTHATINCORPORATESTHREETECHNOLOGIESTHELANEMARKERSYSTEMTHATHASBEENDEVELOPEDINRECENTYEARSASANITSTECHNOLOGY,RTKGPSTECHNOLOGY,ANDGISTECHNOLOGYTHISSTEERINGSYSTEMHASBEENDEVELOPEDFORROTARYSNOWREMOVERSTHETYPEOFSNOWREMOVERCONSIDEREDTOBETHEMOSTDIFFICULTTOOPERATETHEREPORTALSOEVALUATESTHETHREECONTROLMETHODSBASEDONTHERESULTSOFCORROBORATIVETESTINGDONEUSINGACTUALSNOWREMOVERSANDOUTLINESPROBLEMSWITHTHESECONTROLSYSTEMSTHATMUSTBEOVERCOMETOESTABLISHAWORKINGSYSTEMKEYWORDSROTARYSNOWREMOVER,AUTOMATICSTEERING,ITS,LANEMARKER,GIS,GPS1INTRODUCTIONINCOLDSNOWYPARTSOFJAPAN,SNOWISREMOVEDFROMROADSBYMECHANICALMEANSTOGUARANTEESMOOTHWINTERROADTRAFFICTOGUARANTEETHATMECHANICALSNOWREMOVALISPERFORMEDAPPROPRIATELYACCORDINGTOTHESTATEOFSNOWACCUMULATIONONROADSURFACES,ACAREFULLYPLANNEDATTENDANCECONTROLMETHODMUSTBEESTABLISHEDANDTHEMACHINERYMUSTBEOPERATEDCORRECTLYTHEAUTOMATICSTEERINGSYSTEMTHATHASBEENDEVELOPEDISINTENDEDFORUSEONROTARYSNOWREMOVERSATYPEWITHANOPERATINGMETHODMORECOMPLEXTHANTHATOFOTHERTYPESOFSNOWREMOVERSITHASBEENDEVELOPEDTOREDUCETHEBURDENONSNOWREMOVEROPERATORSANDTOLOWERFUTURELABORREQUIREMENTS2BACKGROUNDTOTHEDEVELOPMENTAROTARYSNOWREMOVERISOPERATEDBYTWOPEOPLEANOPERATORWHODRIVESTHEREMOVERANDANASSISTANTWHOCONTROLSTHEEJECTIONOFTHESNOWTHEOPERATORDRIVESTHEMACHINEALONGTHECURBONTHESHOULDEROFTHEROADWHILEWATCHINGOUTFORMANHOLESOROTHERLEVELDIFFERENCESONITSSURFACETHEASSISTANTEJECTSTHESNOWWHILEAVOIDINGPRIVATEPROPERTY,HOMES,ANDOTHERAREASWHERESNOWDISPOSALISFORBIDDENPHOTO1THEGOALISTOAUTOMATEPARTOFTHEVEHICLEOPERATINGWORKNOWPERFORMEDBYTHEOPERATORSTOALLOWTHEMTOCONTROLTHESNOWEJECTIONNOWDONEBYTHEASSISTANTS,PERMITTINGTHEINTRODUCTIONOFONEMANOPERATIONINTHEFUTURETHISREPORTINTRODUCESPOSITIONINGTECHNOLOGYANDCONTROLTECHNOLOGYTHATFORMTHEFOUNDATIONOFTHEAUTOMATICSTEERINGSYSTEMTHATHASBEENDEVELOPED,ANDPRESENTSANEVALUATIONOFTHESYSTEMBASEDONTHERESULTSOFCORROBORATIVETESTINGPERFORMEDWITHANACTUALSNOWREMOVERANDDESCRIBESPROBLEMSTOBEOVERCOMETOCOMPLETEAWORKINGSYSTEMPHOTOGRAPH1INSIDEOFAROTARYSNOWREMOVER23AUTOMATICSTEERINGSYSTEMTHEAUTOMATICSTEERINGSYSTEMTHATHASBEENDEVELOPEDAUTOMATESTHEROTARYSNOWREMOVERSTEERINGOPERATIONTHATISONEOFTHETASKSOFTHEOPERATOR31STEERINGCONTROLOFAROTARYSNOWREMOVERTHESTEERINGMECHANISMOFAROTARYSNOWREMOVERDIFFERSFROMNORMALVEHICLESINTHATTHEFRONTANDBACKPARTSARELINKEDBYPINSANDARTICULATINGMECHANISMSAREINSTALLEDSOTHATTHEVEHICLECANBENDATTHEPINSTHESTEERINGISCONTROLLEDBYTHEEXACTLINEARIZATIONMETHODANDBYTIMESCALETRANSFORMATIONTHATAREEFFECTIVEWAYSTOCONTROLTHECOURSEOFAMOVINGVEHICLE1THISCONTROLMETHODISREPRESENTEDBYANEQUATIONOFMOTIONSUBJECTTONONHOLONOMICCONSTRAINTANDISBASEDONNONLINEARCONTROLTHEORYBUTASNOWREMOVERSLIDESLATERALLY,BECAUSEASITREMOVESSNOW,ITISSUBJECTEDTOLATERALREACTIONFORCEFROMTHESNOWEMBANKMENTASSHOWNBYPHOTOGRAPH2SIDEWAYSSLIDINGISCONTROLLEDBYUSINGTHEINTEGRATEDSERVOSYSTEMDESCRIBEDBELOWTOTREATTHISSLIDINGASANEXTERNALDISTURBANCE1COURSETRACKINGCONTROLFIG1SHOWSAMODELOFTHESNOWREMOVERSTEERINGMECHANISMINTHISFIGURE,THEDISTANCESFROMTHECONNECTINGPINOFTHESNOWREMOVERTOTHEFRONTWHEELSANDTOTHEREARWHEELSAREREPRESENTEDBYLWHENTHESTEERINGANGLEISREPRESENTEDBY2,THECOURSEFOLLOWEDBYTHESNOWREMOVERISANARCWITHRADIUSRL/TANWHENTHECOURSETANGENTDIRECTIONSPEEDVECTORATTHECENTERPOINTPOFTHEFRONTWHEELSISREPRESENTEDBYANDTHETANGENTDIRECTIONANGLEBY,THEEQUATIONOFMOTIONOFTHEPOINTPCANBEWRITTENASFOLLOWSCOSVXG6SINVYG6LVRVTANG61IFEXACTLINEARIZATIONANDTIMESCALETRANSFORMATIONAREDONEFOREQUATION1TOPERFORMSTATUSFEEDBACKCONTROL,THEQUANTITYOFSTEERINGOFTHESNOWREMOVERTHATIS1/2OFTHESTEERINGANGLEISDEFINEDBYTHEFOLLOWINGEQUATION3211COSTANFFTANLY2INEQUATION2,LATERALSLIDINGISNOTCONSIDEREDINORDERTOELIMINATETHESTEADYSTATEDEVIATIONCAUSEDBYLATERALSLIDING,IFTHEINTEGRATEDSERVOSYSTEMISUSED,THEQUANTITYOFSTEERINGISREPRESENTEDBYTHEFOLLOWINGEQUATIONGBBGBBGBCGBAGABGABGACGAAGBFGBEGBDGAFGAEGADGB3TANFFDTCOSFCOSTAN210REF331YVYYLT3THESYMBOLFISTHECONTROLGAIN,ANDBASEDONEQUATION3,F1REPRESENTSPROPORTIONALGAIN,F2REPRESENTSDERIVATIVEGAIN,ANDF3REPRESENTSINTEGRALGAINPIDCONTROLWASUSEDTOCONSTRUCTTHESYSTEMFIGURE2INTEGRATEDSERVOSYSTEMCONTROLBLOCKDIAGRAM212VRLLXYXYPFIGURE1COORDINATESYSTEMMODELOFASNOWREMOVERTAN1F1F2LCOS3TANYCMDCOSF3VS1YREFSNOWREMOVERPHOTOGRAPH2ROTARYSNOWREMOVERREMOVINGSNOW332POSITIONINGMETHODITISNECESSARYTODETECTAVEHICLESPRESENTPOSITIONANDTOHAVEINFORMATIONTHATDETERMINESTHEDIRECTIONTOSTEERITINORDERTOPERFORMAUTOMATICSTEERINGTHESYSTEMTHATHASBEENDEVELOPEDISEQUIPPEDWITHTWOFUNCTIONSTHEGUIDANCEMETHODTHATUSELANEMARKERSENSORSTODETECTTHEVEHICLESPOSITIONANDTHESTEERINGMETHODTHATUSESGPSANDGISTODETECTTHEVEHICLESPOSITION33LANEMARKERSENSORGUIDANCEMETHODALANEMARKERSENSORISABASICTECHNOLOGYOFTHEADVANCEDCRUISEASSISTHIGHWAYSYSTEMAHSDEVELOPEDFORUSEASPARTOFTHEINTELLIGENTTRANSPORTATIONSYSTEMITSTHISTECHNOLOGYINCLUDESLANEMARKERSBURIEDATINTERVALSUNDERAROADSURFACEANDVEHICLEMOUNTEDSENSORSTHATDETECTSIGNALSTRANSMITTEDBYTHESELANEMARKERSTOGUIDETHEVEHICLEALONGTHECOURSEFORMEDBYTHEMARKERSTHEREARETWOVERSIONSOFTHISSYSTEMTHERADIOWAVEMETHODANDTHEMAGNETICMETHOD1STEERINGANGLECALCULATIONLOGICITISASSUMEDTHATTHEDISTANCEBETWEENTHELANEMARKERSWILLNOTBECONSTANT,BUTCANBEVARIEDACCORDINGTOTHESHAPEOFTHEROADANDDEMANDSOFTHESENSORSIDETHEREFORE,THISSYSTEMISEQUIPPEDWITHTWOROWSOFSENSORSSOTHATCONTROLCANBEPERFORMEDEVENWHENTHELANEMARKERINSTALLATIONINTERVALISNOTKNOWNUNTILTHEROTARYSNOWREMOVERPASSESOVERTHEMFIG3TOCONTROLSTEERINGWITHASINGLEROWOFSENSORSFIG3ONTHELEFT,THELATERALDIFFERENTIALANDTHEAZIMUTHALDIFFERENTIALYMANDMTHATARENECESSARYFORCONTROLBYTHETARGETCOURSECOORDINATESYSTEMXYREQUIREINFORMATIONABOUTTHEINTERVALBETWEENTHEMARKERSINADDITIONTOTHESENSORSIGNALYM1THATISMEASUREDBYTHEFRONTVEHICLEFIXEDCOORDINATESYSTEMFXFYFBUTWITHTWOROWSOFSENSORSFIG3ONTHERIGHT,THESYSTEMCANCALCULATETHELATERALDIFFERENTIALANDTHEAZIMUTHALDIFFERENTIALYMANDMOFTHETARGETCOURSECOORDINATESYSTEMXYBYHAVINGTWOOPPOSEDSENSORSHOLDTHETWOSENSORSIGNALSYM1ANDYM2MEASUREDBYTHEFRONTVEHICLEFIXEDCOORDINATESYSTEMFXFYFASITPASSEDAMARKERUNTILTHEYPASSTHENEXTMARKER,SOTHATSTEERINGCONTROLCANBEPERFORMEDEVENIFTHEINTERVALBETWEENMARKERSWASUNKNOWN2RADIOWAVEMARKERSENSORPOSITIONINGMETHODWITHTHERADIOWAVEMETHOD,ANANTENNAINSIDETHESENSORONTHEVEHICLETRANSMITSA2275KHSRADIOWAVETOWARDSTHEROADANDWHENARADIOWAVEMARKERPHOTO3RECEIVESTHISTRANSMISSION,ITRETURNSASIGNALOFDOUBLEFREQUENCYOF455KHZARECEIVINGANTENNAINSIDETHESENSORRECEIVESTHISRETURNRADIOWAVETODETECTTHEVEHICLESPOSITIONFIG6THESYSTEMDETECTSTHELOCATIONSOFTHEMARKERSINTHETRAVELINGDIRECTIONBYPASSINGTHROUGHTHEPEAKVALUEITDETECTSTHEPOSITIONINTHELATERALDIRECTIONBYCALCULATINGTHEDISTANCEBETWEENTHEANTENNASBYTHETRIANGULATIONMETHODBASEDONTHEDIFFERENCEINTHERECEIVEDSTRENGTHOFTHERETURNRADIOWAVESSENSEDBYTHETWORECEIVINGANTENNAS2PHOTOGRAPH3RADIOWAVEMARKERPHOTOGRAPH4RADIOWAVEMARKERSENSORFIGURE3LANEMARKERSENSORGUIDANCEMETHODMTAN1（YM1YM2）/LMYMYM1LO（YM1YM2）/LMCOSMLM134M、LO10MYM目標軌道NO1NO2YM1YM2LMMLOYFXFMSIN1（YM1YM1B）/20YMYM1LO（YM1YM1B）/20COSMLO10MYM目標軌道NO1YM1YM1B2MMLOYFXFNO1前回検出値YM目標軌道NO1NO2YM1YM2LMMLOYFXF敷設TARGETCOURSETARGETCOURSEBURIEDMARKERFRONTPARTOFTHESNOWREMOVERFRONTWHEELTIRESVALUEPREVIOUSLYDETECTEDBYTHENO1SENSOR43MAGNETICMARKERSENSORPOSITIONINGMETHODWITHTHEMAGNETICMETHOD,MAGNETICMARKERSPERMANENTFERRITEMAGNETSPHOTO5UNDERTHEROADSURFACEPRODUCEMAGNETICFIELDSANDAMAGNETICSENSORTHATDETECTSMAGNETICFIELDDENSITYINSTALLEDONTHEVEHICLEDETERMINESTHEPOSITIONOFTHEVEHICLEBASEDONTHESTRENGTHOFEACHMAGNETICFIELDTHEMAGNETICFIELDDISTRIBUTIONOFTHEMAGNETICMARKERSHOWSTHEUNIMODALITYTHATTREATSTHECENTEROFTHEMARKERASTHEMAXIMUMMAGNETICFIELDSTRENGTHTHEMAGNETICFLUXDENSITIESOFTHEVERTICALCOMPONENTBZANDTHEVEHICLEWIDTHDIRECTIONCOMPONENTBXOFTHISMAGNETICFIELDAREDETECTEDBYTHEMAGNETICSENSORANDTHELOCATIONOFTHEMARKERISDETECTEDBYCALCULATINGTHEDISTANCEBETWEENTHESENSORANDTHEMARKERBASEDONTHEPREVIOUSLYSTIPULATEDBX/BZRELATIONALEQUATIONFIG4334GPS/GISPOSITIONDETECTIONMETHODASYSTEMBASEDONGPS/GISPOSITIONINGDETECTSTHEPOSITIONOFTHEVEHICLETOCONTROLITSOPERATIONBYCOMPARINGROTARYSNOWREMOVERPOSITIONCOORDINATEDATARECEIVEDFROMAGPSSATELLITEWITHPOSITIONCOORDINATESOFLINEARDATAFORTHEROADPROVIDEDINADVANCEBYROADGIS1ROADGISROADGISISADATABASEOFINFORMATIONCONCERNINGSTRUCTURESANDTRAFFICMANAGEMENTUSEDFORROADMAINTENANCETODEVELOPTHISSYSTEM,ROTARYSNOWREMOVERTARGETCOURSEINFORMATIONWASCREATEDSOTHATITCANBEHANDLEDASGISDATAOPERATORSOFROTARYSNOWREMOVERSREMOVESNOWTOWIDENTHEBAREROADBYDRIVINGTHEIRVEHICLESGUIDEDBYTHESNOWREMOVALEDGEFIG5BECAUSETHESNOWREMOVALEDGEISOFTENTHECURBOFTHESIDEWALKALONGTHESIDESOFTHEROAD,THEGISDATATHATWASUSEDISCURBDATA2RTKGPSRTKGPS,ASYSTEMCAPABLEOFHIGHPRECISIONPOSITIONINGERRORRADIUSBETWEEN2AND3CM,CONSISTSOFTWOGPSRECEIVINGANTENNAE,ONEAFIXEDSTATIONANDONEAMOBILESTATIONONTHESNOWREMOVERTHEFIXEDSTATIONTRANSMITSCORRECTIONINFORMATIONBASEDONGPSDATAITHASRECEIVEDTOTHEMOBILESTATIONTHESYSTEMCANPERFORMALMOSTREALTIMEPOSITIONING,BECAUSETHEGPSDATAISCORRECTEDATARATEOF20HZ4CORROBORATIVETESTINGCORROBORATIVETESTINGPLANNEDTOSIMULATESNOWREMOVALONAREALROADWASCARRIEDOUTUSINGAROTARYSNOWREMOVEREQUIPPEDWITHTHESTEERINGCONTROLSYSTEMINHOKKAIDOINJANUARYANDFEBRUARY2002THECORROBORATIVETESTINGWASPERFORMEDINORDERTOEVALUATETHEAPPLICABILITYANDPRACTICALITYOFEACHAUTOMATICSTEERINGMETHODUNDERTHEBEHAVIORCHARACTERISTICOFASNOWREMOVERONANACTUALROADLOWSPEED,LATERALSLIDING41OUTLINEOFTHECORROBORATIVETESTING1THEROTARYSNOWREMOVERTHEBODYOFTHEROTARYSNOWREMOVERWASTHEMEDIUMSIZEMODEL22MWIDEUSEDMOSTFREQUENTLYONNATIONALHIGHWAYS,ANDTHEBODYCONSTRUCTEDACCORDINGTONORMALSPECIFICATIONSWASPARTIALLYMODIFIEDFIG6PHOTOGRAPH5MAGNETICMARKER215105005115230025020015010050050100150200250300横位置H300MMH500MMLATERALLOCATIONFIGURE4BX/BZRELATIONSHIP除雪目標作業SNOWREMOVERSTARGETWORKLINEFIGURE5ROADGISDATA52CORROBORATIVETESTCOURSETHECORROBORATIVETESTCOURSECONSISTEDOFSTRAIGHTSECTIONS,CURVES,R30M,ANDINTERSECTIONSR12MSOTHATITREPRODUCEDCONDITIONSONNATIONALHIGHWAYSITSLANEMARKERINTERVALSWERE20MAND15MTHEROTARYSNOWREMOVERWORKCONDITIONSWEREIDENTICALTOTHOSEOFACTUALWORK,WITHTHEWORKDONEATTWOSPEEDS,4KM/HAND05KM/H4SNOWBANKSWEREPREPAREDTOPROVIDETHEWORKLOADANDLATERALSLIDINGTHATOCCURWHENAREMOVERISUSEDTOWIDENTHECLEAREDPARTOFAROAD42RESULTSOFTHECORROBORATIVETESTINGTHETESTINGCORROBORATEDTHELANEMARKERSENSINGRADIOWAVEANDMAGNETICGUIDANCEMETHODSANDTHEGPS/GISPOSITIONINGMETHODBECAUSETHESTEERINGCONTROLSYSTEMDEVELOPEDISASYSTEMTHATFOLLOWSAPRESETTARGETCOURSE,ITSCONTROLPERFORMANCEWASEVALUATEDASTHEQUANTITYOFDEVIATIONOFTHESNOWREMOVERFROMITSTARGETCOURSEQUANTITYOFLATERALDEVIATIONTABLE1SHOWSTHEQUANTITIESOFLATERALDEVIATIONFROMTHETESTRESULTSORGANIZEDBYMETHODTABLE1LATERALDISCREPANCYFOREACHSYSTEMEXAMPLESTANDALONEOPERATIONWORKINGSPEED4KM/H,QUANTITYOFDEVIATIONOFFRONTSENSORUNITMROADALIGNMENTSTRAIGHTSECTIONCURVETOTHELEFTCURVETOTHERIGHTSTRAIGHTSECTIONINTERSECTIONMAXVALUE025041028039076MINVALUE023049038002026AVERAGEVALUE005006013016051RADIOWAVETYPESTANDARDDIFFERENTIAL012023019012016MAXVALUE006035037042091MINVALUE018037053011029AVERAGEVALUE004008025027061MAGNETICTYPESTANDARDDIFFERENTIAL006021024010022MAXVALUE004004025024017MINVALUE003032026000024AVERAGEVALUE000008004007002GPSSTANDARDDIFFERENTIAL002011010008009THISTABLESHOWSTHATOVERALL,THEQUANTITYOFDEVIATIONANDTHESTANDARDDEVIATIONWEREBOTHSMALLONTHESTRAIGHTSECTIONS,BUTBOTHWEREHIGHERONCURVESANDATINTERSECTIONSTHISDIFFERENCEISPRESUMABLYARESULTOFTHEFACTTHATINSECTIONSWITHASMALLRADIUSOFCURVATURE,ALARGERQUANTITYOFSTEERINGISPERFORMEDANDTHESNOWREMOVALLOADISMORELIKELYTOCAUSELATERALSLIDINGBYMETHOD,THEGPS/GISMETHODISSUPERIORTOTHELANEMARKERMETHODBECAUSETHEFORMERMETHODACHIEVESALMOSTREALTIMEPOSITIONINGANDSTEERINGCONTROLOFALMOST20HZ,ITCANRESPONDINSTANTLYTOLATERALSLIDINGTOREDUCETHEQUANTITYOFDEVIATIONWITHTHELATTER,STEERINGISDELAYEDBECAUSETHESYSTEMCANNOTDETECTLATERALSLIDINGWHERETHEREARENOSIGNALSBETWEENLANEMARKERS,RESULTINGINALARGEQUANTITYOFLATERALDEVIATIONTHEREFORE,TESTINGWASDONEBY,INADDITIONTOCORRECTINGLATERALSLIDINGWITHTHESENSOR,PROVIDINGTHECOORDINATESOFTHENEXTMARKERCOURSEINFORMATIONASTHESENSORSPASSEDTHEMARKERSTHERESULTINGLATERALSLIDINGDISTRIBUTIONREVEALSTHATASSHOWNINFIG8,2STANDARDDIFFERENTIALATTHISTIMEWAS57CMWITHOUTCOURSEINFORMATION,ANDITWAS31CMWITHCOURSEINFORMATIONABIGIMPROVEMENTTHATBRINGSITSPRECISIONEXTREMELYCLOSETOTHATOFTHEGPS/GISMETHODNOGAPINPERFORMANCEBETWEENTHESPEEDS4KM/HAND05/HWASOBSERVEDFIG6ROTARYSNOWREMOVEREQUIPPEDWITHANAUTOMATICSTEERINGSUPPORTFUNCTIONKAKEKAKEKEKEKAR30MR30MR12M900102030405060708090100110120130138走行詳細図埋設試験車幅余裕幅（50）雪堤作成用補助車両幅R30MR12MZR30M走行詳細図埋設試験車幅余裕幅雪堤作成用補助車両幅ZLINEOFBURIEDLANEMARKERSSNOWREMOVALEDGESTARTGOALFIGURE7LAYOUTOFTHETESTCOURSEMOBILERTKGPSSTATIONLANEMAKERSENSINGSYSTEMAUTOMATICSTEERINGCONTROLSYSTEMSERVOVALVE65CONCLUSIONSANDFUTURECHALLENGESITHASBEENCONFIRMEDTHATAUTOMATICSTEERINGSYSTEMSUSINGLANEMARKERSORGPS,GIS,ETCCANACHIEVEAGENERALLYPRACTICALLEVELOFCONTROLOFNORMALSNOWREMOVALWORKBYROTARYSNOWREMOVERSBUTINORDERTOESTABLISHPRACTICALWORKINGSYSTEMS,THEFOLLOWINGCHALLENGESMUSTBERESOLVED1TESTINGOFTHEGPS/GISMETHODSHOWEDTHATITSDETECTIONPRECISIONTEMPORARILYFELLEVENINOPENSPACESITISASSUMEDTHATTHISHAPPENEDWHENTHEGPSSATELLITESWERECONCENTRATEDINANARROWRANGEANDDURINGTESTINGOFTHERADIOWAVEMARKERMETHOD,UNPREDICTABLEBEHAVIORTHOUGHTTOBEANEFFECTOFTHEHIGHOUTPUTTRANSMITTERONTHEVEHICLEWASOBSERVEDITISNECESSARYTOPROVIDEAFUNCTIONTHATAUTOMATICALLYSTOPSOPERATIONWITHOUTTHEINTERVENTIONOFTHEOPERATORWHENSUCHABNORMALOPERATINGSIGNALSAREPRODUCED2ANDASINTHEGPS/GISCASE,ITISNECESSARYTOIMPROVETHEPRECISIONOFCONTROLBYTHELANEMARKERMETHODBYENTERINGTHELANEMARKERCOORDINATESTOTHESNOWREMOVERSYSTEMINADVANCETOPROVIDEITWITHCOURSEINFORMATIONITISALSOESSENTIALTORECORDPASSAGEOVEREACHMARKEREACHTIMETHESYSTEMPASSESOVERTHEMARKERS3ANDTOFURTHERIMPROVECONTROLPRECISIONREDUCETHEQUANTITYOFDEVIATION,ITISNECESSARYTOSTRIVETOQUANTIFYDISTURBANCESUCHASLATERALSLIDINGANDTHESNOWREMOVALLOADETCOFTHESNOWREMOVERANDTOPERFORMSIMULATIONSAFTERINCREASINGTHEDEGREEOFDETAILOFTHEMODELOFSNOWREMOVALWORKBYAROTARYSNOWREMOVER6CONCLUSIONINRECENTYEARS,VARIOUSORGANIZATIONSHAVEATTEMPTEDTOAPPLYINFORMATIONTECHNOLOGYIT