Satellite based vehicle guidance control in straight and contour modes

• US 7,437,230 B2
• Filed: 03/19/2004
• Issued: 10/14/2008
• Est. Priority Date: 03/20/2003
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: McClure, John A., Collins, Dennis M., Timm, John T. E.
• Primary Examiner(s): Tran; Khoi H.
• Assistant Examiner(s): Broadhead; Brian J.
• Application Number:
  US10/804,721
• Publication Number:
  US 20040186644A1
• Time in Patent Office: 1,670 Days
• Field of Search: 701/50, 701/221, 701/213, 701/23, 342/357.14
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method for steering an agricultural vehicle comprising: receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.

Claims

1. A method for steering an agricultural vehicle comprising:

receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;

receiving a yaw rate signal corresponding to a yaw rate of said vehicle;

computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;

for each desired swath comprising a plurality of desired positions and desired headings;

computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;

calculating a desired radius of curvature to arrive at said desired swath with a desired heading;

said desired radius of curvature calculating step including generating radius of curvature data based on best fit algorithms from said GPS data including a current position, a heading and a speed to a desired aim point and a desired heading;

said aim point being at least one of;

on a straight line with parallel guidance;

an interpolated point from a point of closest approach to a previously logged, stored or generated curved track;

a series of points defining an edge of a previously traveled swath; and

a data file of track points based on best fit algorithms; and

generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.

2. The method of claim 1, further including receiving differential corrections for said GPS data and correcting said GPS data based on said differential corrections.

3. The method of claim 2, wherein said GPS data includes at least one of, carrier phase RTK corrections, satellite based differential corrections, and ground based differential corrections.

4. The method of claim 2, further including utilizing a DGPS system with dual antennae optimized to generate additional accuracy in said GPS data, further including heading data and generating said compensated heading utilizing said GPS data and said heading data.

5. The method of claim 1, further including generating a differential corrector with a reference DGPS receiver and transmitting said differential corrector to the vehicle.

6. The method of claim 1, wherein said dynamic calibration includes at least one of rate gyro bias error and scale factor error, during operation, and eliminates static initialization.

7. The method of claim 1, further including generating a tilt angle for said vehicle based on at least one of a filtered accelerometer signal and roll signal which can be used to generate a cross track correction based on antenna rotation height to correct for slope induced error in said cross track error.

8. The method of claim 1, further including reducing error in an along track velocity and position by rotating an east and north velocity from said GPS data into along track and cross track components using said compensated heading.

9. The method of claim 1 wherein said desired radius of curvature calculating step further includes generating radius of curvature data based on specific best fit algorithms for:

1) said vehicle initially heading away from said desired swath;

     2) said vehicle initially heading toward said desired swath and beyond said aim point;

     3) said vehicle initially heading toward said desired swath and toward said aim point; and

     4) said vehicle initially heading toward said desired swath and before said aim point.

10. The method of claim 1, wherein said generating a steering command includes generating a command to drive a hydraulic or electrically driven steering system of said vehicle based on a difference between said desired curvature to reach an aim point, a current speed of said vehicle and a rate of turn of said vehicle.

11. The method of claim 1, further including offsetting said desired swath to match differences in spacing of existing tracks to compensate for spacing errors therein.

12. The method of claim 1, further including compensating for features in fields with a step in a nominal spacing of parallel guidance lines by offsetting said desired line to align with a current position.

13. The method of claim 1 wherein said blend includes a combination of said yaw rate signal with said heading information, said yaw rate signal exhibiting high short term accuracy relative to said heading information, while said heading information exhibits high long term accuracy relative to said yaw rate signal.

14. The method of claim 1, further including real time determination of slope at a current position and application of a swath width adjustment to optimize real ground coverage to yield correct spacing between swaths and additional ground coverage.

15. The method of claim 1 wherein said blend employs Kalman filtering techniques.

16. A system for steering an agricultural vehicle comprising:

a means for receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;

a means for receiving a yaw rate signal corresponding to a yaw rate of said vehicle;

a means for computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;

for each desired swath comprising a plurality of desired positions and desired headings;

a means for computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;

a means for calculating a desired radius of curvature to arrive at said desired swath with a desired heading;

said desired radius of curvature calculating means including means for generating radius of curvature data based on best fit algorithms from said GPS data including a current position, a heading and a speed to a desired aim point and a desired heading;

said aim point being at least one of;

on a straight line with parallel guidance;

an interpolated point from a point of closest approach to a previously longed, stored or generated curved track;

a series of points defining an edge of a previously traveled swath; and

a data file of track points based on best fit algorithms; and

a means for generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.

17. A storage medium encoded with a machine-readable computer program code, wherein said storage medium includes instructions for causing a computer to implement a method for steering an agricultural vehicle comprising:

receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;

receiving a yaw rate signal corresponding to a yaw rate of said vehicle;

computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;

for each desired swath comprising a plurality of desired positions and desired headings;

computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;

calculating a desired radius of curvature to arrive at said desired swath with a desired heading;

said desired radius of curvature calculating step including generating radius of curvature data based on best fit algorithms from said GPS data including a current position, a heading and a speed to a desired aim point and a desired heading;

said aim point being at least one of;

on a straight line with parallel guidance;

an interpolated point from a point of closest approach to a previously logged, stored or generated curved track;

a series of points defining an edge of a previously traveled swath; and

a data file of track points based on best fit algorithms; and

generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.

18. A computer system producing a data signal embodied in a computer readable medium:

wherein said computer data signal comprises code configured to cause a computer to implement a method for steering an agricultural vehicle comprising;

receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of said vehicle;

receiving a yaw rate signal corresponding to a yaw rate of said vehicle;

computing a compensated heading for said vehicle based on an integration of said yaw rate signal, said compensated heading comprising a blend of said yaw rate signal with heading information based on said GPS data, wherein said compensated heading is further dynamically calibrated based on said GPS data;

for each desired swath comprising a plurality of desired positions and desired headings;

computing an actual track and a cross track error from said desired swath based on said compensated heading and said position, wherein said position is compared with a selected desired position of said plurality of desired positions and said compensated heading is compared with a selected desired heading of said plurality of desired headings;

calculating a desired radius of curvature to arrive at said desired swath with a desired heading;

said desired radius of curvature calculating step including generating radius of curvature data based on best fit algorithms from said GPS data including a current position, a heading and a speed to a desired aim point and a desired heading;

said aim point being at least one of;

on a straight line with parallel guidance;

an interpolated point from a point of closest approach to a previously logged, stored or generated curved track;

a series of points defining an edge of a previously traveled swath; and

a data file of track points based on best fit algorithms; and

generating a steering command based on said desired radius of curvature to a steering mechanism, said steering mechanism configured to direct said vehicle.