Multi-antenna GNSS control system and method
First Claim
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1. A GNSS-based method of controlling a machine comprising a prime component and an auxiliary component interconnected by an articulated connection, which method comprises the steps of:
- equipping said machine with a GNSS system including a GNSS receiver receiving GNSS ranging signals;
providing said GNSS system with multiple antennas connected to said receiver;
mounting at least one of said antennas on said prime component;
mounting multiple said antennas on said auxiliary component;
forming a fixed baseline on said auxiliary component between said auxiliary component antennas;
forming variable baselines between said prime and auxiliary component antennas;
equipping said machine with a guidance computer;
connecting said guidance computer to said GNSS receiver;
inputting to said guidance computer information corresponding to said fixed and variable baselines; and
pre-programming said guidance computer to position at least one said components using said fixed and variable baseline information.
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Abstract
A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command.
488 Citations
21 Claims
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1. A GNSS-based method of controlling a machine comprising a prime component and an auxiliary component interconnected by an articulated connection, which method comprises the steps of:
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equipping said machine with a GNSS system including a GNSS receiver receiving GNSS ranging signals; providing said GNSS system with multiple antennas connected to said receiver; mounting at least one of said antennas on said prime component; mounting multiple said antennas on said auxiliary component; forming a fixed baseline on said auxiliary component between said auxiliary component antennas; forming variable baselines between said prime and auxiliary component antennas; equipping said machine with a guidance computer; connecting said guidance computer to said GNSS receiver; inputting to said guidance computer information corresponding to said fixed and variable baselines; and pre-programming said guidance computer to position at least one said components using said fixed and variable baseline information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A GNSS-based method of guiding a vehicle comprising a motive component and a working component interconnected by an articulated hitch, said working component comprising multiple hingedly interconnected sections, which method comprises the steps of:
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equipping said vehicle with a GNSS guidance system including a receiver, a guidance computer on the motive component and connected to the receiver, and a working component computer on the working component and connected to the guidance computer; mounting a motive component antenna on the motive component and connected to the receiver; mounting first and second working component antennas in spaced relation on each said working component section and connected to the receiver; defining a fixed-distance, static baseline between the working component antennas; defining first and second variable-distance, moving baselines between the motive component antenna and the first and second working component antennas respectively; providing a prime inertial measuring unit (IMU) on said motive component; providing an auxiliary IMU on said working component; outputting from said IMUs signals corresponding to roll (X), pitch (Y) and yaw (Z) movements of said motive and working components; inputting said IMU signals to said guidance computer; computing guide path corrections for said motive and working components using said IMU signal inputs; defining a guide path with GNSS-based positions; storing said guide path in said guidance computer; navigating a field with said vehicle; receiving GNSS signals with said working component antennas; computing GNSS-defined positions of said working component antennas with said guidance computer; guiding said vehicle along said guide path using said GNSS-defined positions; guiding said working component based on the relative positions of said working component sections with respect to each other, said prime component and the guide path; providing a vehicle operating parameter sensor on said vehicle and connected to said guidance computer; computing guide path corrections for said motive and working components using said IMU signal inputs; and correcting said guide path using said GNSS-defined positions and said vehicle operating parameters.
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12. A GNSS-based system for controlling a machine comprising a prime component and an auxiliary component interconnected by an articulated connection, which system includes:
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a GNSS receiver mounted on the machine and receiving GNSS ranging signals; a prime component GNSS antenna mounted on the prime component and connected to the receiver; a pair of auxiliary component GNSS antennas mounted on the auxiliary component and connected to the receiver; multiple variable baselines each extending between said prime component antenna and a respective auxiliary component antenna and having variable lengths corresponding to relative orientations of said prime and auxiliary components; a fixed baseline extending between said auxiliary component antennas; and a computer mounted on said machine and connected to said receiver, said computer computing position solutions for said prime and auxiliary components. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification