GNSS AND OPTICAL GUIDANCE AND MACHINE CONTROL

摘要

A global navigation satellite 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. 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. Relative orientations and attitudes between tractors and implements can be determined using optical sensors and cameras. Laser detectors and rangefinders can also be used.

主权项

1. A global navigation satellite system (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 adapted to receive 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 computer; connecting said computer to said GNSS receiver; inputting to said computer information corresponding to said fixed and variable baselines; and pre-programming said computer to position at least one said components using said fixed and variable baseline information.