Guidance control system for movable machinery
First Claim
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1. A guidance system for attachment and use on an earth grading equipment machinery, comprising:
- a rough-service box for mounting to the earth grading equipment machinery and in which are disposed and interconnected a telemetry receiver, a first global positioning system (GPS) navigation receiver, and a processor unit connected to an operator display;
a dual-frequency GPS antenna connected to said first GPS navigation receiver placed in a position protected from injury and for receiving spread spectrum microwave radio frequency transmissions from orbiting navigation satellites;
an antenna connected to the telemetry receiver and that provides telemetry signals that include differential correction, real-time kinematic, and machine control information;
a position/angle sensor connected to measure the relative angular position "A" of a mechanism on said earth grading equipment machinery;
a tilt sensor connected to measure the relative angular tilt "T" of said earth grading equipment machinery;
a compass connected to measure the relative compass heading of said earth grading equipment machinery; and
a reference station that includes a second GPS receiver and a telemetry transmitter for communication with said telemetry receiver, and said second GPS receiver has a fixed location that is precisely known and entered to produce differential corrections that are forwarded to the telemetry transmitter for local broadcast and use by said first GPS receiver;
wherein, said first GPS navigation receiver provides centimeter level accurate positions of the GPS antenna in real-time;
wherein, said processor unit is connected to receive position updates from said first GPS navigation receiver and provides real-time differencing of position determinations from a predetermined position model plan; and
wherein, a vector "V" from the GPS antenna to said mechanism is computed from said centimeter level accurate positions, said relative angular tilt "T", said compass heading, and said relative angular position "A", and at a frequency sufficient to guide an operator of said earth grading equipment machinery to raise or lower said mechanism.
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Abstract
A guidance system for movable machinery comprising a GPS processor unit in a "gorilla box" connected to a shock mounted and protected GPS antenna and an operator display with a lightbar that indicates to an operator of the machinery to steer up/down or left/right.
164 Citations
1 Claim
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1. A guidance system for attachment and use on an earth grading equipment machinery, comprising:
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a rough-service box for mounting to the earth grading equipment machinery and in which are disposed and interconnected a telemetry receiver, a first global positioning system (GPS) navigation receiver, and a processor unit connected to an operator display; a dual-frequency GPS antenna connected to said first GPS navigation receiver placed in a position protected from injury and for receiving spread spectrum microwave radio frequency transmissions from orbiting navigation satellites; an antenna connected to the telemetry receiver and that provides telemetry signals that include differential correction, real-time kinematic, and machine control information; a position/angle sensor connected to measure the relative angular position "A" of a mechanism on said earth grading equipment machinery; a tilt sensor connected to measure the relative angular tilt "T" of said earth grading equipment machinery; a compass connected to measure the relative compass heading of said earth grading equipment machinery; and a reference station that includes a second GPS receiver and a telemetry transmitter for communication with said telemetry receiver, and said second GPS receiver has a fixed location that is precisely known and entered to produce differential corrections that are forwarded to the telemetry transmitter for local broadcast and use by said first GPS receiver; wherein, said first GPS navigation receiver provides centimeter level accurate positions of the GPS antenna in real-time; wherein, said processor unit is connected to receive position updates from said first GPS navigation receiver and provides real-time differencing of position determinations from a predetermined position model plan; and wherein, a vector "V" from the GPS antenna to said mechanism is computed from said centimeter level accurate positions, said relative angular tilt "T", said compass heading, and said relative angular position "A", and at a frequency sufficient to guide an operator of said earth grading equipment machinery to raise or lower said mechanism.
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Specification
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Current AssigneeTrimble Navigation Limited (Trimble Inc.)
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Original AssigneeTrimble Navigation Limited (Trimble Inc.)
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InventorsTalbot, Nicholas C., Nichols, Mark E.
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Primary Examiner(s)LOUIS JACQUES, JACQUES H
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Application NumberUS08/946,687Time in Patent Office469 DaysField of Search701/50, 701/213, 701/214, 701/215, 701/216, 701/217, 701/300, 701/207, 342/352, 342/357, 342/457, 340/459, 340/961, 73/178 RUS Class Current701/50CPC Class CodesG01S 19/14 specially adapted for speci...G01S 19/32 Multimode operation in a si...G01S 19/35 Constructional details or h...G01S 19/41 Differential correction, e....G01S 19/44 Carrier phase ambiguity res...
