×

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
First Claim
Patent Images

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.

View all claims
  • 4 Assignments
Timeline View
Assignment View
    ×
    ×