Field navigation system

• US 5,955,973 A
• Filed: 05/21/1997
• Issued: 09/21/1999
• Est. Priority Date: 12/30/1993
• Status: Expired due to Term

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.), CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: Concord, Inc. (CNH Industrial N.V.)
• Inventors: Anderson, Noel W.
• Primary Examiner(s): Lee, Benjamin C.
• Application Number:
  US08/861,077
• Time in Patent Office: 853 Days
• Field of Search: 340/988, 340/995, 340/994, 340/689, 701/50, 701/200, 701/213, 701/215, 701/216, 342/107, 342/357, 342/457, 111/130, 221/1, 239/1
• US Class Current: 340/988
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 11/10 using Doppler effect
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

A location system is used in a vehicle moving within an area at a selected speed and in a selected direction. A heading sensor provides a heading signal representing the direction of movement of the vehicle. A speed sensor provides a speed signal based on available reference signals representing the speed of the vehicle. A storage device stores initial position data representing a selected initial position of the vehicle and checkpoint data representing a navigation checkpoint location. A database stores a plurality of records which each include geographic information data representing selective aspects of the area. A processor estimates a current position signal representing an estimated current position of the vehicle based on values of the heading signal, values of the speed signal, the initial position signal, and on previous values of the current position signal. Values of the current position signal correspond to records stored in the data base. A correction device selectively corrects the current position signal based on selected position inputs which indicate an approximate vehicle position relative to the navigation checkpoint location. An alerting device obtains an alerting signal indicating that the vehicle has reached a selected region within the area based on the current position signal and the geographic information data.

Claims

1. A system for navigating a farm vehicle in an agricultural field, comprising:

a digital data processor;

a satellite sensor coupled to the processor and configured to provide data indicative of the vehicle'"'"'s current location within the field;

a digital memory coupled to the processor and configured to store a database comprising a plurality of records, each record including geographic position data for a location within the field and corresponding data indicative of characteristics of that location wherein the characteristics include soil attributes; and

a display coupled to the processor, the processor configured to access the database to deliver a signal to an operator of the vehicle when the vehicle'"'"'s current location indicates that the vehicle has reached a selected region within the field having selected characteristics.

2. The system of claim 1 wherein the satellite sensor is a GPS receiver.

3. The system of claim 2 wherein the satellite sensor is configured to provide a geo-position signal.

4. The system of claim 1 further comprising an actuator coupled to the processor and configured to apply substances to the field in response to an alerting signal at a plurality of application rates, and wherein the processor is further configured to provide the alerting signal.

5. The system of claim 1 wherein the corresponding data indicative of characteristics of locations in the field is used to regulate the application of chemicals and seeds to the field.

6. The system of claim 1 wherein the corresponding data indicative of characteristics of locations in the field includes application rate information for the application of crop related substances to the field.

7. A process for navigating a farm vehicle in an agricultural field, comprising the steps of:

storing a plurality of records in a database, each record including geographic position data for a location within the field and corresponding data indicative of characteristics of that location wherein the characteristics include soil attributes;

providing data indicative of the vehicle'"'"'s current location within the field;

delivering a conditional alert to an operator of the vehicle when the vehicle reaches a selected region within the field coinciding with the geographic position data of selected characteristics in the database.

8. The process of claim 7 wherein the step of providing data indicative of the vehicle'"'"'s current location includes the steps of receiving GPS signals.

9. The process of claim 8 wherein the step of providing data indicative of the vehicle'"'"'s current position includes the step of providing a geo-position signal.

10. The process of claim 7 further comprising the step of applying substances to the field in response to an alerting signal provided by the processor at a plurality of application rates.

11. The process of claim 7 further including the step of using the corresponding data indicative of characteristics of locations in the field to regulate the application of chemicals and seeds to the field.

12. The process of claim 7, wherein the corresponding data indicative of characteristics of locations in the field includes application rate information for the application of crop related substances to the field.

13. A location system for use in a farm vehicle moving within an agricultural field having a perimeter and moving in a selected direction, the location system comprising:

a satellite sensor and a second heading sensor configured to provide a plurality of current heading signals representative of the current selected direction of movement of the vehicle from those available to be chosen during the operation of the vehicle in the agricultural field;

a signal selector configured to select between the plurality of heading signals;

a speed sensor configured to provide a current speed signal representative of a current speed of the vehicle;

a first memory configured to store initial position data indicative of a selected initial position of the vehicle and for storing checkpoint data indicative of a position of a navigation checkpoint;

a digital memory configured to store a plurality of records, each record including geographic information data representing selected attributes of the field including soil attributes and corresponding positional data;

a processor configured to estimate a current position signal representing an estimated current position of the vehicle based on values of the selected heading signal;

values of the speed signal, the initial position data, and on previous values of the current position signal, wherein values of the current position signal correspond to records stored in the digital memory, and wherein the processor includes a correction circuit for selectively correcting the current position signal based on selected position inputs which indicate an approximate vehicle position relative to the position of a navigational checkpoint, and an alerting circuit for delivering an alerting signal to an operator of the vehicle based on the current position signal and the geographic information data stored in the digital memory, the alerting signal indicative of the vehicle reaching a selected region of predetermined stored geographic data within the field; and

a user interface adapted to receive position inputs from the operator.

14. A navigation system for navigating an agricultural vehicle in an agricultural field for precision farming, comprising:

a satellite navigation receiver configured to generate a geo-position signal;

a processor coupled to the satellite navigation receiver and configured to receive the geo-position signal;

a digital memory coupled to the processor to receive and store a plurality of records, each such record including geographic information data representing selected aspects of the field including soil attributes and corresponding positional data;

a display device coupled to the processor and adapted to deliver an alert to the operator of the vehicle based upon a current position of the vehicle and the geographic information data stored in the digital memory, the alert indicative of the vehicle reaching a selected region of predetermined stored geographic data of selected soil attributes within the field.

15. The navigation system of claim 14 wherein the processor is configured to estimate the current position of the vehicle based upon the geo-position signal.

16. The navigation system of claim 14 wherein the alert is indicative of the system status.

17. The navigation system of claim 14 wherein the alert is indicative of arrival at a waypoint.

18. A system for navigating a farm vehicle in an agricultural field, comprising:

a digital data processor;

a satellite sensor coupled to the processor and configured to provide data indicative of the vehicle'"'"'s current location within the field;

a digital memory coupled to the processor and configured to store a database comprising a plurality of records, each record including geographic position data for a location within the field and corresponding data indicative of characteristics of that location wherein the characteristics include soil attributes including at least a seed application rate for that location used to regulate the application of seeds to the agricultural field; and

a display coupled to the processor, the processor configured to access the database to deliver a signal to an operator of the vehicle when the vehicle'"'"'s current location indicates that the vehicle has reached a selected region within the field having selected characteristics.

19. A system for navigating a farm vehicle in an agricultural field, comprising:

a digital data processor;

a satellite sensor coupled to the processor and configured to provide data indicative of the vehicle'"'"'s current location within the field;

a digital memory coupled to the processor and configured to store a database comprising a plurality of records, each record including geographic position data for a location within the field and corresponding data indicative of characteristics of that location wherein the characteristics include soil attributes; and

a display coupled to the processor and configured to deliver a signal to an operator of the vehicle when the vehicle reaches a selected region within the field coinciding with the geographic position data in the database as determined by at least one datum indicative of a selected characteristic of that selected region, wherein the corresponding data indicative of characteristics of locations in the field is used to regulate the application of chemicals and seeds to the field.

20. A process for navigating a farm vehicle in an agricultural field, comprising the steps of:

storing a plurality of records in a database, each record including geographic position data for a location within the field and corresponding data indicative of characteristics of that location, wherein the characteristics include soil attributes and the soil attributes include at least a seed application rate for that location used to regulate the application of seeds to that location of the agricultural field;

providing data indicative of the vehicle'"'"'s current location within the field;

delivering a conditional alert to an operator of the vehicle when the vehicle reaches a selected region within the field coinciding with the geographic position data in the database and having at least one selected soil attribute.

21. A navigation system for navigating an agricultural vehicle in an agricultural field for precision farming, comprising:

a satellite navigation receiver configured to generate a geoposition signal;

a processor coupled to the satellite navigation receiver and configured to receive the geoposition signal;

a digital memory including geographic information data including seed application rates and used to regulate location-specific application of seeds coupled to the processor and adapted to deliver an alert to an operator of the vehicle based upon a current position of the vehicle and the geographic information data including seed application rates stored in the digital memory, the alert indicative of the vehicle reaching a selected region of predetermined stored geographic data within the field including a selected seed application rate.