Satellite based vehicle guidance control in straight and contour modes
US7437230B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 19, 2004 |
| Grant date | Oct 14, 2008 |
| Priority date | — |
| Expiry date | Dec 5, 2024 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0278
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
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 the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.