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MULTIPLE-ANTENNA GNSS CONTROL SYSTEM AND METHOD

  • US 20090164067A1
  • Filed: 01/17/2009
  • Published: 06/25/2009
  • Est. Priority Date: 03/20/2003
  • Status: Active Grant
First Claim
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1. A GNSS guidance and roll compensation method for autosteering a vehicle with multiple GNSS antennas, a guidance processor including a central processing unit (CPU) and an autosteering subsystem, which method comprises the steps of:

  • mounting said antennas in a fixed, constrained-geometry relation on said vehicle;

    acquiring GNSS ranging signals at said antennas;

    computing with said receiver GNSS ranging data using said GNSS ranging signals as input;

    computing with said CPU a position and a heading for the vehicle using said GNSS ranging data as input from said receiver;

    computing with said CPU vehicle roll data in real time from ranging differences at said GNSS antennas;

    computing roll correction values from said vehicle roll data;

    applying said roll correction values to steering commands output from said CPU; and

    steering said vehicle with said autosteering subsystem utilizing said steering command and said roll correction values.

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