Satellite based vehicle guidance control in straight and contour modes
First Claim
1. A method for steering an agricultural vehicle comprising:
- receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;
. receiving a yaw rate signal corresponding to a yaw rate of said vehicle;
computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;
for each desired swath comprising a plurality of desired positions and desired headings;
computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;
calculating a desired radius of curvature to arrive at said desired track with a desired heading;
generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.
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Accused Products
Abstract
A method for steering an agricultural vehicle comprising: receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.
127 Citations
21 Claims
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1. A method for steering an agricultural vehicle comprising:
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receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;
.receiving a yaw rate signal corresponding to a yaw rate of said vehicle;
computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;
for each desired swath comprising a plurality of desired positions and desired headings;
computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;
calculating a desired radius of curvature to arrive at said desired track with a desired heading;
generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A system for steering an agricultural vehicle comprising:
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a means for receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;
.a means for receiving a yaw rate signal corresponding to a yaw rate of said vehicle;
a means for computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;
for each desired swath comprising a plurality of desired positions and desired headings;
a means for computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;
a means for calculating a desired radius of curvature to arrive at said desired track with a desired heading;
a means for generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.
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20. A storage medium encoded with a machine-readable computer program code, wherein said storage medium includes instructions for causing a computer to implement a method for steering an agricultural vehicle comprising:
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receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;
.receiving a yaw rate signal corresponding to a yaw rate of said vehicle;
computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;
for each desired swath comprising a plurality of desired positions and desired headings;
computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;
calculating a desired radius of curvature to arrive at said desired track with a desired heading;
generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.
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21. A computer data signal embodied in a computer readable medium:
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wherein said computer data signal comprises code configured to cause a computer to implement a method for steering an agricultural vehicle comprising;
receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;
receiving a yaw rate signal corresponding to a yaw rate of said vehicle;
computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;
for each desired swath comprising a plurality of desired positions and desired headings;
computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;
calculating a desired radius of curvature to arrive at said desired track with a desired heading;
generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.
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Specification