Patent Publication Number: US-11662213-B2

Title: Methods and apparatus for assessing coordinate data

Description:
RELATED APPLICATIONS 
     This patent arises from a continuation of U.S. patent application Ser. No. 16/850,872, filed on Apr. 16, 2020, which is a continuation of U.S. patent application Ser. No. 15/861,340, filed on Jan. 3, 2018, now U.S. Pat. No. 10,648,820. U.S. patent application Ser. No. 16/850,872 and U.S. patent application Ser. No. 15/861,340 are hereby incorporated herein by reference in their entireties. 
    
    
     FIELD OF THE DISCLOSURE 
     This disclosure relates generally to machine guidance, and, more particularly, to methods and apparatus for assessing coordinate data. 
     BACKGROUND 
     To operate a work machine along a desired path, guidance systems combine map layers from various years to determine possible adjustments that need to be made to coordinate data in order for the work machine to properly traverse the desired path. 
     SUMMARY 
     An example apparatus includes a processor to receive coordinate data relating to a desired path and task of a vehicle. The processor of the example apparatus to determine if the coordinate data satisfies a threshold. The processor of the example apparatus to determine if the coordinate data is compatible with a positioning system of the vehicle. The processor of the example apparatus to authorize operation the vehicle to traverse the desired path based on the coordinate data. 
     An example method includes receiving, by executing an instruction with a processor, coordinate data relating to a desired path and task of a vehicle. The example method also includes determining, by executing an instruction with a processor, if the coordinate data satisfies a threshold. The example method also includes, determining, by executing an instruction with a processor, if the coordinate data is compatible with a positioning system of the vehicle. The example method also includes, authorizing, by executing an instruction with a processor, operation of the vehicle to traverse the desired path based on the coordinate data. 
     An example non-transitory computer-readable medium includes instructions that, when executed, cause a processor to, at least receive coordinate data relating to a desired path and task of a vehicle, determine if the coordinate data satisfies a threshold, determine if the coordinate data is compatible with a positioning system of the vehicle, and authorize operation of the vehicle to traverse the desired path based on the coordinate data. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    represents an example environment in which the apparatus and methods disclosed herein may be implemented. 
         FIG.  2    is a diagram of an apparatus that may be used to implement the example methods described herein. 
         FIGS.  3 - 6    are example flowcharts representative of the example methods implemented by the apparatus described herein. 
         FIG.  7    is an example processor platform that may be used with the example apparatus of  FIG.  2    and/or the example methods of  FIGS.  3 - 6   . 
     
    
    
     The figures are not to scale. In general, the same reference numbers will be used throughout the drawing(s) and accompanying written description to refer to the same or like parts. 
     DETAILED DESCRIPTION 
     Machine guidance to date has not attempted seed and nutrient placement, which requires precision and accuracy to be within 1 centimeter (cm). Other than coordinate format (e.g., decimal degrees vs minutes and seconds) and gross Coordinate Reference System (CRS) (e.g., WGS-84, NAD-83, UTM, etc.), there has been minimal advancement with regard to precise CRS consistency checking (e.g., WGS-84 datums and epochs) or other CRS attributes going into vehicle mission planning and archival data recording. Failure to check consistency between the CRS and accuracy used by a vehicle positioning system and the CRS and accuracy of historical data can result in mission plans or field operations that kill crops by placing fertilizer too close to plants or by running a work machine over crops. Failure to check the consistency of the coordinate data can also result in reduced yields by placing fertilizer too far from plants or seed too far from previously applied fertilizer. In one example, for construction, topography data collected by an Unmanned Ariel Vehicle (UAV) may use a different CRS than a Global Navigation Satellite System (GNSS) receiver on a dozer which is moving material based on the UAV data. In another example, for turf care, a golf course green may have been mapped with a CRS different from the one being used by a greens mower for mower guidance. These examples are without limitation and extend the disclosed examples beyond agriculture. 
     Georeferenced field and worksite data has been available for over 20 years with the completion of the Global Positioning System (GPS) satellite constellation. GPS uses the WGS-84 coordinate system which has had 6 different realizations in its existence. During those 20 years, the central United States has experienced approximately 30-40 cm of continental drift relative to a static geocentric coordinate system. On an annual basis, continental drift across locations can range between 2 cm to 7 cm. Other areas have had several times that amount. As such, continental drift can make maps and GPS data that has not been updated error prone. Thus, continental drift needs to be considered in combining map layers and GPS data from heterogeneous sources (e.g., mixed brand farmer equipment, agricultural service providers, aerial image providers including UAVs, satellites, government and private ground surveys, etc.). In some examples, historical data, particularly before the advent of high precision corrected global navigation satellite systems such as Real-Time Kinematic (RTK) GPS, may have accuracy measured in meters vs. centimeters. Thus, differences may exist in two reported latitude, longitude, and altitudes of a given point (e.g., a survey marker) arising from differences in CRS, continental drift, and positioning sensor error, for example. 
     The examples disclosed herein solve the above mentioned problems by ensuring that the georeferenced data used in guiding an implement through a field, or other vehicle on a worksite, uses coordinate data that is consistent to a level supporting the placement or operation precision (e.g., within 0-10 cm). As used herein, the term “coordinate data” comprises a coordinate reference system, a coordinate format, a realization, an epoch, a time of measurement, map layers, previous mission plans, positioning sensor accuracy, and a plate drift offset. 
     The examples disclosed herein provide an apparatus to receive coordinate data relating to a desired path and task of a vehicle. For example, the apparatus may receive coordinate data for a path of travel the vehicle is to traverse or a mission plan that includes instructions for a work machine. In some examples, the mission plan may include coordinate data along with instructions to operate certain components of the work machine at various locations along the desired path. 
     When the coordinate data and/or the mission plan is received, the apparatus determines if the coordinate data satisfies a threshold. To maintain precision and accuracy of the work machine, the threshold is within 0-10 centimeters of the desired path. In some examples, failure to meet the threshold may result from an integrity check indicating that the coordinate reference systems are not compatible with the positioning system on a work machine. In other examples, the CRS of the mission and the vehicle may be identical, but the accuracy of measurements in historic data used to generate the mission may be insufficient for the current mission. A specific threshold may be based on a precision or accuracy required by the particular mission and in some examples may come from a need to accurately guide the work machine or a component thereof to deposit a material, remove a material, or avoid an object or zone by a given distance. In some examples, the task element of a mission does not add to following a planned path, i.e., it is a “null” task. In other examples, the machine is guided by a human operator, but the mission tasks are automated to a georeferenced plan. In still other examples, the mission comprises both an automated plan to move the work machine and for automated georeferenced actions to be taken along the path including, without limitation, collecting data, depositing material, moving or leveling material, removing material, and conditioning or processing material. Without limitation, material may comprise soil, rock, sand, seed, chemicals, and/or organic matter. 
     In the examples disclosed herein, integrity checking may mean that the coordinate data and/or mission plan was generated by a trusted source that has already taken care of CRS consistency and has included a certificate to that effect. In some examples, a list of coordinate data from map layers used to generate the mission plan may be included along with transformations used to normalize the layers. In this example, the apparatus checks this data and transform pedigree to ensure the data satisfies the threshold. In some examples, the precision and accuracy of the data source (e.g., a Global Navigation Satellite System (GNSS) sensor) for each map layer are also considered. In some examples, accuracy of the coordinate data transforms is considered. For example, if the data was transformed from NAD-83 to WGS-84, the apparatus determines that the resulting coordinate data from that transformations is accurate. Other integrity checks may also be employed in addition to the ones detailed above. 
     The apparatus determines if the coordinate data is compatible with a positioning system of the vehicle. For example, the coordinate data may be in the form of NAD-83, and the apparatus determines that the NAD-83 format of the coordinate data is compatible with the positioning system of the vehicle. In some examples, the coordinate data may be in the NAD-83 CRS, but the positioning system of the vehicle is only compatible with the current WGS-84 CRS. In such an example, the apparatus determines if a transformation exists to transform the NAD-83 coordinate data into current WGS-84 coordinate data. If a transformation exists, the apparatus transforms the coordinate data into a compatible form for the positioning system of the vehicle. 
     The apparatus authorizes operation of the vehicle to traverse the desired path based on the coordinate data. However, if the coordinate data does not satisfy the threshold and/or is not compatible with the positioning system of the vehicle, the apparatus inhibits operation of the vehicle. For example, the apparatus may disable actuators of the vehicle. 
       FIG.  1    represents an example environment  100  in which the apparatus and methods disclosed herein may be implemented. The example environment  100  includes an example work machine  102 , which includes an example processor  104 , an example GNSS sensor  106 , and an example tool head  108 . The example environment  100  also includes an example satellite  110 , an example base station  112 , and an example server  113 . 
     In the illustrated example, the work machine  102  is executing a mission plan. The mission plan identified a target path for the work machine  102  to traverse, illustrated by line  114 . However, the actual path of the work machine  102  is illustrated by line  116 . Prior to operating the work machine  102 , the processor  104  analyzes the mission plan to determine if the coordinate data of the mission plan satisfies a threshold. For example, the processor  104  receives the mission plan and determines that coordinate data of the mission plan is up to date and is accurate within a certain range (e.g., 1 cm, 5 cm, 10 cm, etc.). As such, the processor  104  initiates operation of the work machine  102  to traverse the target path  114 . During operation of the work machine  102 , updated GPS data is received from the satellite  110  and the base station  112 . In the examples disclosed herein, the satellite  104  may be any type of satellite such as a Global Positioning System (GPS) satellite, a Satellite-Based Augmentation System (SBAS) satellite, or Global Navigation Satellite System (GLONASS) satellite, for example. The base station  112  of the illustrated example may be any type of base station such as Real Time Kinematic (RTK) base station, or a Precise Point Positioning (PPP) base station, for example. 
     Alternatively, the server  113  may analyze the mission plan to determine if the coordinate data of the mission plan satisfies a threshold. For example, the server  113  may receive the mission plan and determine that coordinate data of the mission plan is up to date and is accurate within a certain range (e.g., 1 cm, 5 cm, 10 cm, etc.). As such, the server  113  may then send the mission plan to the processor  104  to initiate operation of the work machine  102  to traverse the target path  114 . 
     The GNSS sensor  106  receives the GPS data from the satellite  110  and may receive corrected and/or updated GPS data from the base station  112 . For example, the satellite  110  may send GPS data to the GNSS sensor  106  and the base station  112  that is accurate up to 10 cm, and the base station  112  may send corrected GPS data to the GNSS sensor  106  that is accurate up to 1 cm so that the actual path  116  of the work machine  102  is as close to the target path  114  as possible. Additionally, the example GNSS sensor  106  may send signals to the base station  112  to increase the accuracy of the GPS data. 
     In some examples, the example tool head  108  may increase and/or decrease the spacing between work pieces  118  or inhibit application of fertilizer based on data received from a mission plan. Alternatively, the tool head  108  may operate the work pieces  118  if the processor  104  determines that the work machine  102  is off the target path  114 . For example, the tool head  108  may move the work pieces  118  to offset the distance between the actual path  116  and the target path  114 . 
       FIG.  2    is a diagram of an apparatus  200  that may be used to implement the example methods disclosed herein. The example apparatus  200  includes the processor  104 , which includes an example coordinate datum validator  202  and an example mission planner  204 . The example coordinate datum validator  202  includes an integrity checker  202   a , a datum transformer  202   b , and a mission authorizer  202   c . The example mission planner  204  includes a work machine path generator  206 , work machine tool operator  208 , source layer datum generator  210 . The example apparatus  200  also includes a map layer store  212 , a work machine position sensor  214  that includes a datum verifier  216 , work machine controls  218  that includes actuators  220 , an automated guidance system  222 , a pneumatic transport  224 , and a liquid pump  226 . The example apparatus  200  also includes a display  228  that may be wired  230  or handheld  232 . 
     In the illustrated example, the processor  104  receives worksite map layers from the map layer store  212 . The map layer store  212  may contain map layers that are either georeferenced and/or non-georeferenced. Additionally, the map layer store  212  may contain map layers of paths that the work machine  102  has previously traversed. The example mission planner  204  may receive these map layers and prepare a mission plan. The example work machine path generator  206  may generate a path the work machine  102  is to traverse based on the map layers received from the map layer store  212 . For example, the work machine path generator  206  may generate a path that traverses the entire field so the work machine  102  may plant seeds. The example work machine tool operator  208  may determine a rate at which nutrients are to be placed in the field. For example, the work machine tool operator  208  may determine a rate at which the work machine  102  is to plant the seeds in the field when it is traversing the path generated by the work machine path generator  206 . Additionally, the work machine tool operator  208  may determine when to operate the work machine controls  218 . The example source layer datum generator  210  may generate a new map layer based on new mission plan and/or check the accuracy of the map layers received from the map layer store  212  to determine if there are any map layers currently in the source layer datum generator  210  that are more accurate. Additionally, the source layer datum generator  210  may keep track of any transformations that may have occurred to the map layers. In some examples, the source layer datum generator  210  may transform coordinate data to another format such as from degree-minute-second to decimal degrees. In other examples, the source layer datum generator  210  may transform coordinate data from a version or realization of NAD-83 to the current WGS-84 version or realization. 
     The mission planner  204  may also receive GPS data from the work machine position sensor  214 . In some examples, the datum verifier  216  may check received GPS data to ensure that it is compatible with the work machine  102 . Additionally or alternatively, the datum verifier  216  may perform a transformation so that received GPS data is in a compatible format for the work machine  102 . While the example datum verifier  216  is shown in the example work machine position sensor  214 , the datum verifier  216  may be included in the processor  104  or the mission planner  204 . In some examples, the work machine position sensor  214  is the GNSS sensor  106  of  FIG.  1   . 
     Once the mission plan has been generated by the mission planner  204 , the coordinate datum validator  202  determines if the coordinate data in the mission plan is precise and accurate (e.g., within a desired range). In some examples, the integrity checker  202   a  may perform an integrity check on the mission plan. For example, the integrity checker  202   a  may determine if a certificate is included in the mission plan, indicating that the mission was generated by a trusted source which has already taken care of datum consistency. In another example, the integrity checker  202   a  may analyze a list of datums from map layers used to generate the mission from the source layer datum generator  210  along with transformations used to normalize the map layers. In some examples, the integrity checker  202   a  checks the precision and accuracy of a data source (e.g., a GNSS sensor) for each map layer. The precision may be related to the number of binary digits used to represent spatial data in, for example, latitudes and longitudes. It may also be related to the representation of data types in transformation computations. For example, while one precision may be satisfactory for representing latitude and longitude, another representation having more precision may be needed for intermediate results of transformation calculations. A transform may be certified to maintain a given precision and/or accuracy. The accuracy may be related to the type of correction applied by the work machine position sensor  214  to a raw positions, such as Differential Correction, Wide Area Augmentation System (WAAS), and/or Real-Time Kinematic (RTK). Accuracy may also be related to operational factors such as the satellite constellation used in measuring positions as represented by, for example, Dilution of Precision (DOP). 
     In some examples, the coordinate datum validator  202  may determine the accuracy and compatibility of the datum transforms performed by the datum verifier  216  and/or the source layer datum generator  210 . For example, the datum transformer  202   b  may determine if the datum transforms are precise and accurate, and compatible with the work machine  102 . If the datum transforms are not precise and accurate and/or not compatible with the work machine  102 , the datum transformer  202   b  may perform a transformation so that received coordinate data is in a compatible format for the work machine  102 . Alternatively, the datum transformer  202   b  may transform coordinate data in the mission plan to another format. For example, the datum transformer  202   b  may transform coordinate data from NAD-83 to WGS-84. 
     If the coordinate datum validator  202  determines that the mission plan is precise and accurate, and compatible with the work machine  102 , the mission authorizer  202   c  authorizes operation of the work machine controls  218  to execute the mission plan. For example, the processor  104  may send instructions to the work machine controls  218  to operate the actuators  220  to operate a tillage tool, the automated guidance system  222  for a tractor, the pneumatic transport  224  for a planter or seeder, and/or the liquid pump for a fertilizer mission. 
     If the coordinate datum validator  202  determines that the mission plan is not precise and accurate, and/or not compatible with the work machine  102 , the mission authorizer  202   c  inhibits operation of the work machine controls  218  and sends an error message to the display  228  for display to an operator of the work machine  102 . For example, the processor  104  may send an error message to the wired  230  display of the work machine  102  to alert an operator that the mission plan is not satisfactory. Alternatively, the processor  104  may send the error message to the handheld  232  display when the work machine  102  is an autonomous vehicle. In another example, the error message is sent simultaneously to the wired display  230  for an operator to see or hear and to a handheld display  232  belonging to a supervisor. 
     While an example manner of implementing the processor  104  of  FIG.  1    is illustrated in  FIG.  2   , one or more of the elements, processes and/or devices illustrated in  FIG.  2    may be combined, divided, re-arranged, omitted, eliminated and/or implemented in any other way. Further, the example coordinate datum validator  202 , the example integrity checker  202   a , the example datum transformer  202   b , the example mission authorizer  202   c , the example mission planner  204 , the example work machine path generator  206 , the example work machine tool operator  208 , the example source layer datum generator  210 , the example datum verifier  216 , and/or, more generally, the example apparatus  200  of  FIG.  2    may be implemented by hardware, software, firmware and/or any combination of hardware, software and/or firmware. Thus, for example, any of the example coordinate datum validator  202 , the example integrity checker  202   a , the example datum transformer  202   b , the example mission authorizer  202   c , the example mission planner  204 , the example work machine path generator  206 , the example work machine tool operator  208 , the example source layer datum generator  210 , the example datum verifier  216 , and/or, more generally, the example apparatus  200  of  FIG.  2    could be implemented by one or more analog or digital circuit(s), logic circuits, programmable processor(s), programmable controller(s), graphics processing unit(s) (GPU(s)), digital signal processor(s) (DSP(s)), application specific integrated circuit(s) (ASIC(s)), programmable logic device(s) (PLD(s)) and/or field programmable logic device(s) (FPLD(s)). When reading any of the apparatus or system claims of this patent to cover a purely software and/or firmware implementation, at least one of the example coordinate datum validator  202 , the example integrity checker  202   a , the example datum transformer  202   b , the example mission authorizer  202   c , the example mission planner  204 , the example work machine path generator  206 , the example work machine tool operator  208 , the example source layer datum generator  210 , the example datum verifier  216 , and/or, more generally, the example apparatus  200  of  FIG.  2    is/are hereby expressly defined to include a non-transitory computer readable storage device or storage disk such as a memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc. including the software and/or firmware. Further still, the example apparatus  200  of  FIG.  2    may include one or more elements, processes and/or devices in addition to, or instead of, those illustrated in  FIG.  2   , and/or may include more than one of any or all of the illustrated elements, processes and devices. As used herein, the phrase “in communication,” including variations thereof, encompasses direct communication and/or indirect communication through one or more intermediary components, and does not require direct physical (e.g., wired) communication and/or constant communication, but rather additionally includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals, and/or one-time events. 
     Flowcharts representative of example hardware logic or machine readable instructions for implementing the apparatus  200  of  FIG.  2    are shown in  FIGS.  3 - 6   . The machine readable instructions may be a program or portion of a program for execution by a processor such as the processor  712  shown in the example processor platform  700  discussed below in connection with  FIG.  7   . The program may be embodied in software stored on a non-transitory computer readable storage medium such as a CD-ROM, a floppy disk, a hard drive, a DVD, a Blu-ray disk, or a memory associated with the processor  712 , but the entire program and/or parts thereof could alternatively be executed by a device other than the processor  712  and/or embodied in firmware or dedicated hardware. Further, although the example program is described with reference to the flowcharts illustrated in  FIGS.  3 - 6   , many other methods of implementing the example apparatus  200  may alternatively be used. For example, the order of execution of the blocks may be changed, and/or some of the blocks described may be changed, eliminated, or combined. Additionally or alternatively, any or all of the blocks may be implemented by one or more hardware circuits (e.g., discrete and/or integrated analog and/or digital circuitry, an FPGA, an ASIC, a comparator, an operational-amplifier (op-amp), a logic circuit, etc.) structured to perform the corresponding operation without executing software or firmware. 
     As mentioned above, the example processes of  FIGS.  3 - 6    may be implemented using executable instructions (e.g., computer and/or machine readable instructions) stored on a non-transitory computer and/or machine readable medium such as a hard disk drive, a flash memory, a read-only memory, a compact disk, a digital versatile disk, a cache, a random-access memory and/or any other storage device or storage disk in which information is stored for any duration (e.g., for extended time periods, permanently, for brief instances, for temporarily buffering, and/or for caching of the information). As used herein, the term non-transitory computer readable medium is expressly defined to include any type of computer readable storage device and/or storage disk and to exclude propagating signals and to exclude transmission media. 
     “Including” and “comprising” (and all forms and tenses thereof) are used herein to be open ended terms. Thus, whenever a claim employs any form of “include” or “comprise” (e.g., comprises, includes, comprising, including, having, etc.) as a preamble or within a claim recitation of any kind, it is to be understood that additional elements, terms, etc. may be present without falling outside the scope of the corresponding claim or recitation. As used herein, when the phrase “at least” is used as the transition term in, for example, a preamble of a claim, it is open-ended in the same manner as the term “comprising” and “including” are open ended. The term “and/or” when used, for example, in a form such as A, B, and/or C refers to any combination or subset of A, B, C such as (1) A alone, (2) B alone, (3) C alone, (4) A with B, (5) A with C, and (6) B with C. 
     The program  300  of  FIG.  3    begins when the coordinate datum validator  202  receives the mission plan from the mission planner  204  (block  310 ). The integrity checker  202   a  then checks the coordinate system integrity (block  320 ). For example, the integrity checker  202   a  may determine if the coordinate data in the mission plan includes a certificate indicating that the coordinate data has been checked for consistency by a trusted source. It is then determined if the mission coordinate integrity was confirmed (block  330 ). For example, the integrity checker  202   a  determines if there is a certificate. If the mission coordinate integrity is not confirmed, the mission authorizer  202   c  inhibits the machine mission (block  360 ). However, if the integrity checker  202   a  confirms the mission coordinate integrity, the process proceeds to block  340  to determine if the mission and machine coordinates are compatible. For example, the datum transformer  202   b  determines if the coordinate data is in a compatible format with the work machine  102 , or if there is a transformation that exists to transform the coordinate data into a compatible format. In another example, the integrity checker  202   a  checks the datum of the mission with the datum used by the work machine  102 . If the mission and machine coordinates are not compatible, the mission authorizer  202   c  inhibits the machine mission at block  360 . If the mission and machine coordinates are compatible, the work machine  102  performs the mission (block  350 ). The process  300  ends. 
     The program  400  illustrates an example process that may take place at a back office instead of the work machine  102 , for example. The program  400  begins when the mission planner  204  receives data layer coordinate data (block  410 ). For example, the program begins when the mission planner  204  receives map layer data from the map layer store  212 . It is then determined if the coordinate integrity is confirmed (block  420 ). For example, the integrity checker  202   a  determines if the coordinate data is precise and accurate (e.g., within a certain range). If the coordinate integrity is confirmed, the mission planner  204  generates a mission (block  430 ). If the coordinate integrity is not confirmed, the mission authorizer  202   c  instructs the display of an error message (block  440 ). For example, the processor  104  may send an error message to a handheld  232  display of an operator generating the mission. The program  400  ends. In some examples, the program  400  may include an additional step of attaching documentation to the mission (block  450 ). For example, the documentation may be a certificate indicating that a trusted source checked the coordinate data for consistency. The processor  104  then transfers the mission to the work machine  102  (block  460 ). The program  400  ends. 
     The program  500  begins when the processor  104  receives coordinate data relating to a desired path and/or task of a vehicle (block  510 ). The integrity checker  202   a  determines if the coordinate data satisfies a threshold (block  520 ). For example, the integrity checker  202   a  determines if the coordinate data is precise and accurate and performs an integrity check for CRS. In some examples, the threshold comprises both a threshold for accuracy and an integrity for CRS. In another example, the integrity checker  202   a  may determine if the coordinate data satisfies a mission accuracy threshold relating to data and transforms, and a mission integrity check relating to CRS. If the coordinate data does not satisfy the threshold, the mission authorizer  202   c  inhibits operation of the vehicle (block  570 ). If the coordinate data does satisfy the threshold, it is then determined if the coordinate data is compatible with the positioning system of the vehicle (block  530 ). For example, the datum transformer  202   b  determines if the coordinate data is compatible with the work machine  102 . If the coordinate data is compatible with the positioning system of the vehicle, the mission authorizer  202   c  operates the vehicle to traverse the desired path (block  560 ). For example, the mission authorizer  202   c  authorizes the operation of the work machine  102 . If the coordinate data is not compatible with the positioning system of the vehicle, it is determined if a transformation is available to transform the coordinate data to a compatible coordinate system (block  540 ). If no transformation is available, the mission authorizer  202   c  inhibits operation of the vehicle (block  570 ). If a transformation is available, the datum transformer  202   b  transforms the coordinate data to a compatible coordinate system (block  550 ). The mission authorizer  202   c  then operates the vehicle to traverse the desired path (block  560 ). For example, the mission authorizer  202   c  authorizes the operation of the work machine  102 . The program  500  ends. 
     The program  600  begins when the processor  104  receives coordinate data (block  610 ). The integrity checker  202   a , determines if the coordinate data satisfies a threshold (block  620 ). For example, the integrity checker  202   a  determines if the coordinate data is precise and accurate and performs an integrity check for CRS. If the coordinate data does not satisfy the threshold, the mission authorizer  202   c  displays an error message (block  660 ). For example, the mission authorizer  202   c  sends an error message for display. If the coordinate data satisfies the threshold, the work machine path generator  206  generates a desired path of a vehicle, or component thereof, based on the coordinate data (block  630 ). The source layer datum generator  210  then generates verification data for the desired path of the vehicle (block  640 ). The processor  104  then sends the desired path of the vehicle and the verification data to the vehicle (block  650 ). The program  600  ends. 
       FIG.  7    is a block diagram of an example processor platform  700  structured to execute the instructions of  FIGS.  3 - 6    to implement the apparatus  200  of  FIG.  2   . The processor platform  700  can be, for example, a server, a personal computer, a workstation, a self-learning machine (e.g., a neural network), a mobile device (e.g., a cell phone, a smart phone, a tablet such as an iPad™), a personal digital assistant (PDA), an Internet appliance, a DVD player, a CD player, a digital video recorder, a Blu-ray player, a gaming console, a personal video recorder, a set top box, a headset or other wearable device, or any other type of computing device. 
     The processor platform  700  of the illustrated example includes a processor  712 . The processor  712  of the illustrated example is hardware. For example, the processor  712  can be implemented by one or more integrated circuits, logic circuits, microprocessors, GPUs, DSPs, or controllers from any desired family or manufacturer. The hardware processor may be a semiconductor based (e.g., silicon based) device. In this example, the processor implements the processor  104  and/or the apparatus  200 . 
     The processor  712  of the illustrated example includes a local memory  713  (e.g., a cache). The processor  712  of the illustrated example is in communication with a main memory including a volatile memory  714  and a non-volatile memory  716  via a bus  718 . The volatile memory  714  may be implemented by Synchronous Dynamic Random Access Memory (SDRAM), Dynamic Random Access Memory (DRAM), RAMBUS® Dynamic Random Access Memory (RDRAM®) and/or any other type of random access memory device. The non-volatile memory  716  may be implemented by flash memory and/or any other desired type of memory device. Access to the main memory  714 ,  716  is controlled by a memory controller. 
     The processor platform  700  of the illustrated example also includes an interface circuit  720 . The interface circuit  720  may be implemented by any type of interface standard, such as an Ethernet interface, a universal serial bus (USB), a Bluetooth® interface, a near field communication (NFC) interface, and/or a PCI express interface. 
     In the illustrated example, one or more input devices  722  are connected to the interface circuit  720 . The input device(s)  722  permit(s) a user to enter data and/or commands into the processor  712 . The input device(s) can be implemented by, for example, an audio sensor, a microphone, a camera (still or video), a keyboard, a button, a mouse, a touchscreen, a track-pad, a trackball, isopoint and/or a voice recognition system. 
     One or more output devices  724  are also connected to the interface circuit  720  of the illustrated example. The output devices  724  can be implemented, for example, by display devices (e.g., a light emitting diode (LED), an organic light emitting diode (OLED), a liquid crystal display (LCD), a cathode ray tube display (CRT), an in-place switching (IPS) display, a touchscreen, etc.), a tactile output device, a printer and/or speaker. The interface circuit  720  of the illustrated example, thus, typically includes a graphics driver card, a graphics driver chip and/or a graphics driver processor. 
     The interface circuit  720  of the illustrated example also includes a communication device such as a transmitter, a receiver, a transceiver, a modem, a residential gateway, a wireless access point, and/or a network interface to facilitate exchange of data with external machines (e.g., computing devices of any kind) via a network  726 . The communication can be via, for example, an Ethernet connection, a digital subscriber line (DSL) connection, a telephone line connection, a coaxial cable system, a satellite system, a line-of-site wireless system, a cellular telephone system, etc. 
     The processor platform  700  of the illustrated example also includes one or more mass storage devices  728  for storing software and/or data. Examples of such mass storage devices  728  include floppy disk drives, hard drive disks, compact disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital versatile disk (DVD) drives. 
     The machine executable instructions  300 ,  400 ,  500 , and  600  of  FIGS.  3 - 6    may be stored in the mass storage device  728 , in the volatile memory  714 , in the non-volatile memory  716 , and/or on a removable non-transitory computer readable storage medium such as a CD or DVD. 
     From the foregoing, it will be appreciated that example methods, apparatus and articles of manufacture have been disclosed that assess coordinate data. The examples disclosed herein provide an accurate and safe way to evaluate the increasing number of data received from various sources. The examples disclosed herein provide accuracy within a range of 0-10 cm. This beneficial because known coordinate data for on-highway vehicles is implemented with a tolerance of up to 30 feet. Using that type of coordinate data for agricultural purposes would destroy crops. Additionally, the examples disclosed herein maintain the accuracy of transformed coordinate data so that it may be utilized with other work machines. 
     Although certain example methods, apparatus and articles of manufacture have been disclosed herein, the scope of coverage of this patent is not limited thereto. On the contrary, this patent covers all methods, apparatus and articles of manufacture fairly falling within the scope of the claims of this patent.