Low speed heading measurement

• US 10,024,977 B1
• Filed: 02/18/2016
• Issued: 07/17/2018
• Est. Priority Date: 02/18/2015
• Status: Active Grant

• Current Assignee: Ag Leader Technology Incorporated
• Original Assignee: Ag Leader Technology Incorporated
• Inventors: Schneider, Michael, Willett, Dave
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US15/047,067
• Time in Patent Office: 880 Days
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G01S 19/39 the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

Methods, apparatus, and systems for use in agricultural equipment with automatic steering control. One method includes the steps of calculating a heading to provide greater accuracy than heading information obtained from the GNSS system or calculated in an equivalent manner using GNSS locations at successive sample periods and using the heading in providing automatic steering control, swath control, or rate control of planting, spraying, or other application functions for the agricultural equipment.

Claims

1. A method for use in agricultural equipment with automatic steering control and configured to receive information from a Global Navigation Satellite System (GNSS), the method comprising:

(a) determining whether or not to use heading information obtained from GNSS locations at successive sample periods or a different way by;

(1) comparing a speed or distance parameter of the agricultural equipment to a threshold speed or distance,

(2) if the speed or distance parameter of the agricultural equipment is greater than the threshold speed or distance, estimating heading using the heading information determined from GNSS locations at successive sample periods;

or

(3) if the speed or distance parameter of the agricultural equipment is less than the threshold steed or distance, estimating heading from information other than the GNSS locations at successive sample periods;

(b) repeating step (a) to promote greater heading accuracy than solely using the heading information obtained from the GNSS locations at successive sample periods, and

(c) using the heading in providing automatic steering control, swath control, or rate control of planting, spraying, or other application functions for the agricultural equipment.

2. The method of claim 1 further comprising receiving the heading information from the GNSS.

3. The method of claim 1 wherein the heading information is derived from the GNSS by calculating the heading information from GNSS locations at successive sample periods.

4. The method of claim 1 further comprising receiving the speed from the GNSS.

5. The method of claim 1 wherein the threshold speed comprises in the range of 1 to 4 mph.

6. The method of claim 1 wherein the determining whether or not to use the heading information determined using GNSS locations at successive sample periods comprises comparing distance between current GNSS position coordinates and previous GNSS position coordinates to determine distance traveled and not using the heading information determined using GNSS locations at successive sample periods if the distance traveled is less than the threshold speed or distance.

7. The method of claim 6 wherein the threshold distance comprises in the range of 3-7 inches.

8. The method of claim 1 wherein the step of estimating heading from information other than the GNSS locations at successive sample periods comprises using:

(a) GNSS position locations other than solely successive GNSS position measurements;

or

(b) other than GNSS measurements.

9. The method of claim 8 wherein the information other than the GNSS locations at successive sample periods comprises a parameter related to turning geometry of the agricultural equipment comprising:

turning rate, turning radius, the reciprocal of turning radius, or path curvature associated with the agricultural equipment.

10. The method of claim 1 further comprising sensing, related to the agricultural equipment, the information other than the GNSS locations at successive sample periods.

11. The method of claim 10 wherein the information other than the GNSS locations at successive sample periods comprises a steering angle and using the steering angle in estimating the heading.

12. The method of claim 10 wherein the other than the GNSS locations at successive sample periods comprises sensing a yaw rate and using the yaw rate in calculating the heading.

13. The method of claim 1 wherein the step of estimating the heading comprises adding a change in heading to a previously determined heading.

14. A control system for use on the agricultural equipment, the control system configured to perform the method of claim 1.

15. The method of claim 1 wherein the step of estimating the heading occurs after a sufficient change in position relative to stored position coordinates to allow for accurately calculating the heading.

16. The method of claim 1 wherein the GNSS comprises a single antenna.

17. The method of claim 1 comprising repeating step (a) over a period of operation of the agricultural equipment.

18. The method of claim 17 further comprising storing the headings estimations at or just prior to stopping or shutting off the agricultural equipment and utilizing the stored heading estimation on next movement or restart.

19. The method of claim 1 wherein the information other than the GNSS locations at successive sample periods comprises:

storing position coordinates;

determining heading from a current position and a stored position coordinates when there is a sufficient change in position between the current position and the stored position coordinates to provide an accurate heading determination.

20. The method of claim 19 wherein the step of determining heading is from a Global Navigation Satellite System (GNSS) position when change in position relative to the stored position coordinates is sufficient for acceptable heading error.

21. The method of claim 19 wherein the sufficient for acceptable heading error is selectable for a given application and comprises a range of on the order of 0°

to 1°

.

22. A system for use in agricultural equipment with automatic steering control and configured to receive information from a Global Navigation Satellite System (GNSS), including GNSS locations at successive sample periods, the system comprising:

at least one GNSS antenna associated with the GNSS;

a processor;

an input to the processor operatively connected to the GNSS,

an output from the processor to the automatic steering control;

a software program associated with the processor which;

uses the input to derive position and heading,

determines whether to use (1) at least one of the derived position and heading from GNSS locations at successive sample periods or (2) other than from GNSS locations at successive sample periods, via the output for automatic steering control.

23. The system of claim 22 wherein the other than from GNSS locations at successive sample periods is based at least in part on other than position estimations from the GNSS.

24. The system of claim 23 wherein the other than position estimates from the GNSS comprises sensing with a steering angle or rate sensor and the heading is based on feedback from the steering angle or rate sensor.

25. The system of claim 23 wherein the other than position estimates from the GNSS comprises sensing with a yaw rate sensor and the heading is based on feedback from the yaw rate sensor.

26. The system of claim 23 wherein the GNSS comprises a single antenna.

27. The system of claim 23 in combination with the agricultural equipment and the heading is used for automatic steering, swath control, rate control, or an application function associated with the agricultural equipment;

wherein the processor estimates a heading to provide greater accuracy than heading information solely obtained using GNSS locations at successive sample periods; and

using the heading over a period of operation of the agricultural equipment in providing automatic steering control, swath control, or rate control of planting, spraying, or other application functions for the agricultural equipment.