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GNSS and optical guidance and machine control

  • US 9,886,038 B2
  • Filed: 05/11/2016
  • Issued: 02/06/2018
  • Est. Priority Date: 03/20/2003
  • Status: Active Grant
First Claim
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1. An automatic steering system for use in an agricultural vehicle, comprising:

  • a controller configured to;

    send one or more steering control commands for a desired track to a vehicle steering control mechanism to steer the agricultural vehicle, the desired track including a desired position and desired heading;

    receive data from one or more sensors indicating a response by the agricultural vehicle to the one or more steering control commands, the data including a measured position and a measured heading;

    determine a position and heading deviation of the agricultural vehicle from the desired track based on a difference between the measured position and measured heading from the one or more sensors and the desired position and desired heading indicating the response by the agricultural vehicle to the one or more steering control commands;

    derive one or more calibration values based on the position and heading deviation of the agricultural vehicle;

    generate additional steering control commands for additional desired positions and desired headings based on the one or more calibration values and additional calibration values derived from additional position and heading deviations of the agricultural vehicle;

    send the additional steering control commands to the steering control mechanism to steer the agricultural vehicle along the desired track; and

    determine the additional position and heading deviations of the agricultural vehicle from the additional desired positions and desired headings based on differences between additional measured positions and measured headings from the one or more sensors and the additional desired positions and desired headings.

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