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Farm apparatus having implement sidehill drift compensation

  • US 20080086249A1
  • Filed: 10/05/2006
  • Published: 04/10/2008
  • Est. Priority Date: 10/05/2006
  • Status: Active Grant
First Claim
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1. An apparatus for steering a vehicle in order to guide a farm implement along a desired path, comprising:

  • a compensation computer having a first sidehill computer for computing a roll height compensation from a fixed function of a roll angle of said vehicle and a height of a global navigation satellite system (GNSS) antenna disposed on said vehicle; and

    a second sidehill computer for computing a sidehill tracking compensation from a variable sidehill tracking function of said roll angle, said variable sidehill tracking function determined for compensating a sidehill tracking error at least partly due to implement sidehill drift; and

    a sidehill compensator for determining a compensated crosstrack error based on said desired implement path, GNSS position measurements derived from GNSS signals received in said GNSS antenna, said roll height compensation and said tracking compensation;

    said compensated crosstrack error for use for steering said vehicle in order to guide said implement to said desired path.

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