GNSS AND OPTICAL GUIDANCE AND MACHINE CONTROL

摘要

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. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.

主权项

1. An automated steering control system to control a vehicle, or control an implement attached to the vehicle, for an agricultural operation, comprising;
a memory storing a desired track; and one or more processors to:
send one or more steering control commands to a steering controller to steer the vehicle or implement along the desired track;receive position, speed, and attitude data from one or more sensors indicating a response by the vehicle or implement to the one or more steering control commands to compute a deviation of one or more of a position, speed, and attitude from the desired track;generate one or more corrective steering control commands based on the computed deviation; andsend the one or more corrective steering control commands to the steering controller to dynamically adjust operation of the vehicle or implement relative to the desired track.