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A Gantry Crane Auto-Steering System Based on
GPS RTK Technology
Donghyun (Don) Kim
Department of Geodesy and Geomatics Engineering
University of New Brunswick
15 Dineen Drive
Fredericton, Canada E3B 5A3

1 Abstract
Machine-control applications such as a gantry crane auto-steering system require
positioning accuracies better than a few centimetres with extremely high reliability in a
real-time kinematic mode and at a high update rate of positioning solutions. The
University of New Brunswick (UNB) has developed ultrahigh-precision GPS real-time
kinematic (RTK) software which provides such a capability and is being used to control
cranes at a large container port. The software works in conjunction with a dualfrequency
GPS receiver and an IEEE 108.11b compatible 2.4 GHz wireless LAN
(WLAN) base unit (Ethernet hub and access point) at a base station and two dualfrequenc