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Farm sidehill compensation

  • US 8,489,290 B1
  • Filed: 07/06/2010
  • Issued: 07/16/2013
  • Est. Priority Date: 10/05/2006
  • Status: Active Grant
First Claim
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1. An apparatus to steer a vehicle in order to guide a farm implement along a desired path, comprising:

  • a compensation computer to compute sidehill tracking compensations according to a sidehill tracking function of roll angle, said function having an order greater than one, where said function has been determined to compensate implement sidehill tracking errors for at least a first and a second said roll angle; and

    a sidehill compensator to determine compensated crosstrack errors for said vehicle based on GNSS position measurements of said vehicle and said sidehill tracking compensations, where steering said vehicle to minimize said compensated crosstrack errors guides said implement to follow said desired path.

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