Field navigation system

• US 5,684,476 A
• Filed: 05/08/1995
• Issued: 11/04/1997
• Est. Priority Date: 12/30/1993
• Status: Expired due to Term

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.), CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: Concord, Inc. (CNH Industrial N.V.)
• Inventors: Anderson, Noel W.
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): LEE, BENJAMIN C
• Application Number:
  US08/436,870
• Time in Patent Office: 911 Days
• Field of Search: 340/988, 340/995, 340/990, 340/994, 340/684, 340/689, 342/104, 342/107, 342/457, 342/357, 180/167, 180/168, 364/449, 364/450, 364/420, 364/131, 221/1, 111/130, 239/1
• US Class Current: 340/988
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 11/10 using Doppler effect
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

A location system is used in a vehicle moving within an area at a selected speed and in a selected direction. A heading sensor provides a heading signal representing the direction of movement of the vehicle. A speed sensor provides a speed signal based on available reference signals representing the speed of the vehicle. A storage device stores initial position data representing a selected initial position of the vehicle and checkpoint data representing a navigation checkpoint location. A database stores a plurality of records which each include geographic information data representing selective aspects of the area. A processor estimates a current position signal representing an estimated current position of the vehicle based on values of the heading signal, values of the speed signal, the initial position signal, and on previous values of the current position signal. Values of the current position signal correspond to records stored in the data base. A correction device selectively corrects the current position signal based on selected position inputs which indicate an approximate vehicle position relative to the navigation checkpoint location. An alerting device obtains an alerting signal indicating that the vehicle has reached a selected region within the area based on the current position signal and the geographic information data.

Claims

1. A location system for use in a farm implement vehicle moving within an agricultural field having a perimeter and moving in a selected direction, the location system comprising:

heading sensor means including a satellite sensor and a second heading sensor for providing a plurality of current heading signals representative of the current selected direction of movement of the vehicle from those available to be chosen during the operation of the vehicle in the agricultural field;

a signal selector adapted to select between the plurality of current heading signals;

speed sensor means for providing a current speed signal based on available reference signals, the speed signal representative of a current selected speed of the vehicle;

storage means for storing initial position data indicative of a selected initial position of the vehicle and for storing checkpoint data indicative of a position of a navigation checkpoint location;

database means including a digital memory for storing a plurality of records, each record including geographic information data representing selected aspects of the field comprising soil attributes and corresponding positional data;

processor means for estimating a current position signal representing an estimated current position of the vehicle based on values of the selected heading signal, values of the speed signal, the initial position data, and on previous values of the current position signal, wherein values of the current position signal correspond to records stored in the database means;

correction means for selectively correcting the current position signal based on selected position inputs which indicate an approximate vehicle position relative to the position of the navigation checkpoint location;

alerting means for delivering an alerting signal to an operator of the vehicle based on the current position signal and the geographic information data stored in the database means, the alerting signal indicative of the vehicle reaching a selected region of predetermined stored geographic data within the field; and

a user interface adapted to receive position inputs from the operator.

2. The location system of claim 1 further comprising:

a vehicle mounted speedometer.

3. The location system of claim 1 wherein the navigation checkpoint location comprises a portion of the perimeter.

4. The location system of claim 1 wherein the navigation checkpoint location comprises a selected location within the area.

5. The location system of claim 1 wherein the navigation checkpoint location comprises a selected location outside of the area.

6. The location system of claim 1 wherein the processor means comprises a computer.

7. The location system of claim 1 further comprising:

sensing means for providing the selected position inputs in response to the vehicle being within a selected distance from the navigation checkpoint location.

8. The location system of claim 1 further comprising:

display means for displaying the approximate current position of the vehicle based on the current position signal.

9. The location system of claim 1 further comprising:

application means responsive to the alerting signal for applying substances to the area with at least two application rates.

10. The location system of claim 1 further comprising:

recording means responsive to the alerting signal for recording data related to the selected region.

11. The location system of claim 1 further comprising:

interactive means for providing the checkpoint data based on checkpoint inputs received from an operator.

12. The location system of claim 1 wherein the processor means estimates the current position signal by calculating displacement values as a function of the heading values, the speed values, and the initial position data, each displacement value being indicative of a vehicle displacement relative to the selected initial position occurring during a selected time interval, the current position signal being estimated based on the displacement values.

13. The location system of claim 1, wherein the satellite sensor includes a GPS device, responsive to a GPS signal.

14. The location system of claim 1, wherein said second heading sensor is a compass.

15. The location system of claim 1, wherein the signal selector selects between the plurality of current heading signals based upon the velocity of the vehicle.

16. The location system of claim 1 wherein the speed sensor means is responsive to reference signals generally available from satellites.

17. The location system of claim 16 wherein the speed sensor means include a global positioning system receiver.

18. The location system of claim 1 wherein the speed sensor means is responsive to reference signals generally available from the vehicle.

19. The location system of claim 18 wherein the speed sensor means includes a radar system.

20. The location system of claim 1 further comprising:

an inclinometer for providing an inclinometer signal representative of an inclination of the vehicle to the processor means.

21. The location system of claim 20 wherein the processor estimates the current position signal based on values of the inclinometer signal.

22. The location system of claim 20 wherein the inclinometer provides the selected position inputs in response to the vehicle being within a selected distance from the navigation checkpoint location.

23. The location system of claim 1 wherein the heading means comprises a compass.

24. The location system of claim 23 wherein the compass is a flux compass.

25. The location system of claim 24 wherein the heading means further comprises a global positioning system receiver.

26. The location system of claim 1, wherein the speed sensor means includes a GPS receiver, responsive to a GPS signal, for providing a current speed signal.

27. The location system of claim 26, wherein the speed sensor means includes a plurality of speed sensors.

28. The location system of claim 27, wherein one of said plurality of speed sensors is a ground reflective speed sensor.

29. The location system of claim 28, further comprising a speed selector means for selecting among said plurality of speed sensors based on a first system parameter.

30. The location system of claim 29, wherein the first system parameter is the velocity of the vehicle.

31. The location system of claim 29, wherein the first system parameter is the quality of the GPS signal.

32. A method of ascertaining a current position of a farm implement vehicle moving within an agricultural field having a perimeter at a selected speed and moving in a selected direction, the method comprising:

providing a plurality of current heading signals including at least one satellite signal representative of a current selected direction of movement from those available to be chosen during the operation of the vehicle in the agricultural field;

selecting between the plurality of current heading signals based upon the quality of the satellite signal;

providing a current speed signal based on available reference signals, the speed signal representative of a current selected speed of the vehicle;

storing initial position data indicative of a selected initial position of the vehicle and for storing checkpoint data indicative of a position of a navigation checkpoint location in a digital memory;

storing a plurality of records, each record including geographic information data representing selected aspects of the field comprising soil attributes and corresponding positional data;

estimating a current position signal representing an estimated current position of the vehicle based on values of the selected heading signal, values of the speed signal, the initial position data, and on previous values of the current position signal, wherein values of the current position signal correspond to records stored in the database means;

selectively correcting the current position signal based on selected position inputs which indicate an approximate vehicle position relative to the position of the navigation checkpoint location;

delivering an alerting signal to an operator of the vehicle based on the current position signal and the geographic information data stored in the database means, the alerting signal indicative of the vehicle reaching a selected region of predetermined stored geographic data within the field; and

receiving position inputs from the operator of the vehicle.

33. The method of claim 32 wherein the speed signal is provided in response to reference signals generally available from satellites.

34. The method of claim 32 wherein the speed signal is provided in response to reference signals generally available from the vehicle.

35. The method of claim 32 further comprising the step of providing a backup speed signal with a vehicle mounted speedometer.

36. The method of claim 32 wherein the heading signal is provided with a flux compass.

37. The method of claim 32 further comprising the step of providing an inclinometer signal representative of an inclination of the vehicle and wherein the current position signal is estimated based on values of the inclinometer signal.

38. The method of claim 32 wherein the navigation checkpoint comprises a portion of the perimeter.

39. The method of claim 32 wherein the navigation checkpoint comprises a selected location within the area.

40. The method of claim 32 wherein the navigation checkpoint comprises a selected location outside of the area.

41. The method of claim 32 wherein the current position signal is estimated and selectively corrected with a computer.

42. The method of claim 32 further comprising the step of providing the selected position inputs in response to the vehicle being within a selected distance from the navigation checkpoint.

43. The method of claim 32 further comprising the step of displaying the approximate current position of the vehicle based on the current position signal.

44. The method of claim 32 further comprising the step of applying substances to the area with at least two application rates in response to the alerting signal.

45. The method of claim 32 further comprising the step of recording data related to the selected region in response to the alerting signal.

46. The method of claim 32 further comprising the step of providing the checkpoint data based on checkpoint inputs received from an operator.

47. The method of claim 32 wherein the current position signal is estimated by calculating displacement values as a function of the heading values, the speed values, and the initial position data, each displacement value being indicative of a vehicle displacement relative to the selected initial position occurring during a selected time interval, the current position signal being estimated based on the displacement values.