COMBINED GNSS GYROSCOPE CONTROL SYSTEM AND METHOD
First Claim
1. A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:
- computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro;
computing a steering control command using said vehicle position and heading;
applying said steering control command to the vehicle steering mechanism;
providing the vehicle steering control mechanism with a control value corresponding to the performance of the vehicle; and
steering said vehicle with said steering control mechanism utilizing said steering control command and said control value.
4 Assignments
0 Petitions
Accused Products
Abstract
A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command.
186 Citations
21 Claims
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1. A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:
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computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro; computing a steering control command using said vehicle position and heading; applying said steering control command to the vehicle steering mechanism; providing the vehicle steering control mechanism with a control value corresponding to the performance of the vehicle; and steering said vehicle with said steering control mechanism utilizing said steering control command and said control value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:
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computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro; computing a steering control command; applying selected control values to the vehicle steering control mechanism; basing the steering control command on a first proportionality factor multiplied by a difference in a desired position versus an actual position plus a second proportionality factor multiplied by a difference in a desired heading versus an actual heading, said second proportionality factor insuring that when said vehicle attains said desired position the vehicle is also directed to said desired heading, and thereby avoids crossing a desired track; using a recursive, adaptive algorithm to characterize the vehicle response and selected dynamic characteristics; calculating response times and characteristics for the vehicle based on said responses; calibrating said control commands by applying a modified control command based on said responses to achieve a desired response; providing a wheel sensor; tracking vehicle wheel velocity with said wheel sensor; providing a steering sensor; monitoring wheel direction with said steering sensor; providing limits and assistance in closing tracking loops with said wheel velocity and direction; comparing the GNSS-based velocity and the gyro and GNSS-based heading with the wheel rate and angle to model the slippage and the steering rate conditions to enhance the adaptive control loops; providing said vehicle with a sprayer including multiple spray nozzles or applicators for applying material to a surface; applying materials using the rate of change of tilt to adjust spray nozzle or applicator rates to compensate for roll or tilt of terrain; and varying the rates of application of the nozzles or applicators based on turn rates calculated by the gyros and the GNSS receivers to apply materials in a desired rate.
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12. A sensor system for controlling a vehicle steering system, which sensor system comprises:
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a global navigation satellite sensor (GNSS) attitude subsystem including at least one receiver and multiple antennas connected to said receiver or receivers at a fixed spacing, said GNSS attitude subsystem computing vehicle position and attitude using measured GNSS carrier phase differences; a yaw gyroscope connected to said GNSS attitude subsystem and configured to derive and provide outputs including yaw angles and angular rates of change; said yaw gyroscope being configured for calibration and initialization using said GNSS-derived attitude; and a steering control subsystem connected to said yaw gyroscope and said GNSS attitude subsystem and using said yaw angle and yaw angle rate of change outputs from said yaw gyroscope for computing and outputting steering control commands to the vehicle steering system from the current position and heading to the desired position and heading. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification