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1.发明申请
公开(公告)号：WO2005119290A1
公开(公告)日：2005-12-15
申请号：PCT/US2004/015678
申请日：2004-05-17
Applicant: CSI WIRELESS INC. , FELLER, Walter , WHITEHEAD, Michael, L. , MC CLURE, John, A.
Inventor： FELLER, Walter , WHITEHEAD, Michael, L. , MC CLURE, John, A.
IPC: G01S5/14
CPC classification number: G05D1/0278 , G01S19/04 , G01S19/54 , G05D1/027 , G05D2201/0201 , G05D2201/021
Abstract: A sensor system for vehicle steering control comprising: a plurality of global navigation satellite sensor systems (GNSS) including receivers 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 corrected real time kinematics (RTK) position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. 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.
Abstract translation: 一种用于车辆转向控制的传感器系统，包括：多个全球导航卫星传感器系统（GNSS），其包括以固定间隔的接收器和天线，以确定车辆位置，速度以及行驶角，俯仰角和滚动中的至少一个 角度基于载波相位校正的实时运动学（RTK）位置差异。 滚动角度有助于校正当车辆基于对地面的偏移和滚动角度而移动时由天线的运动产生的横向运动引起的位置误差。 该系统还包括被配置为接收车辆位置，航向以及滚动和俯仰中的至少一个的控制系统，并被配置为产生对车辆转向系统的转向命令。
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公开(公告)号：WO2005011141A1
公开(公告)日：2005-02-03
申请号：PCT/US2004/016374
申请日：2004-05-24
Applicant: CSI WIRELESS INC. , WHITEHEAD, Michael, L. , MILLER, Steven, R.
Inventor： WHITEHEAD, Michael, L. , MILLER, Steven, R.
IPC: H04B1/707
CPC classification number: G01S19/22 , G01S19/30 , H04B2001/70706 , H04B2201/70715
Abstract: A method of measuring phase of a pseudorandom (PN) sequence of chips, the method includes: generating a reference model exhibiting a reference phase, the reference phase adjustable to facilitate alignment with the phase of the pseudorandom sequence; establishing a plurality of pulsed-windows over which a plurality of samples of the pseudorandom sequence are collected for a selected accumulation interval; and accumulating the plurality of samples for each pulsedwindow of the plurality of pulsed windows to form a plurality of accumulated sums. The method also includes: compensating each accumulated sum to form at least one compensated sum, if a number of level transitions and non-transitions of the pseudorandom sequence is not equal; and combining the compensated sum to determine a phase error from the plurality of compensated sums, the phase error corresponding to a phase difference between the reference phase and the phase of the pseudorandom sequence.
Abstract translation: 一种测量芯片的伪随机（PN）序列的相位的方法，所述方法包括：产生呈现参考相位的参考模型，所述参考相位可调节以便于与所述伪随机序列的相位对准; 建立多个脉冲窗口，在所述多个脉冲窗口中收集所述伪随机序列的多个样本用于所选择的累积间隔; 并且对多个脉冲窗口中的每个脉冲窗口累积多个样本以形成多个累加和。 该方法还包括：如果伪随机序列的级数转换和非转换不相等，则补偿每个累积和以形成至少一个补偿和; 并且将所述补偿和组合以从所述多个补偿和确定相位误差，所述相位误差对应于所述参考相位和所述伪随机序列的相位之间的相位差。
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Patent Agency Ranking3.发明申请
公开(公告)号：WO2005119386A1
公开(公告)日：2005-12-15
申请号：PCT/US2004/015677
申请日：2004-05-17
Applicant: CSI WIRELESS INC. , McCLURE, John, A. , COLLINS, Dennis, M. , TIMM, John, T., E.
Inventor： McCLURE, John, A. , COLLINS, Dennis, M. , TIMM, John, T., E.
IPC: G05D1/02
CPC classification number: A01B69/008 , G01C21/00 , G05D1/027 , G05D1/0278 , G05D2201/0201
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.
Abstract translation: 一种用于转向农用车辆的方法，包括：接收全球定位系统（GPS）数据，其包括对应于车辆的位置，速度和路线中的至少一个的位置和速度信息; 接收横摆率信号; 以及计算补偿航向，所述补偿航向包括基于所述GPS数据的所述横摆率信号与航向信息的混合。 对于包括多个所需位置和期望标题的每个期望的条，该方法还包括：基于补偿的标题和位置，从期望的条纹计算实际轨道和交叉轨道误差; 计算期望的曲率半径以期望的标题到达期望的轨道; 以及基于所述期望的曲率半径向所述转向机构产生转向指令，所述转向机构构造成引导所述车辆。
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公开(公告)号：CA2566604C
公开(公告)日：2013-06-25
申请号：CA2566604
申请日：2004-05-17
Applicant: CSI WIRELESS INC
Inventor： MCCLURE JOHN A , COLLINS DENNIS M , TIMM JOHN T E
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.
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公开(公告)号：CA2566604A1
公开(公告)日：2005-12-15
申请号：CA2566604
申请日：2004-05-17
Applicant: CSI WIRELESS INC
Inventor： COLLINS DENNIS M , MCCLURE JOHN A , TIMM JOHN T E
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公开(公告)号：AU2004320401A1
公开(公告)日：2005-12-15
申请号：AU2004320401
申请日：2004-05-17
Applicant: CSI WIRELESS INC
Inventor： MCCLURE JOHN A , COLLINS DENNIS M , TIMM JOHN T E
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公开(公告)号：EP1756687A1
公开(公告)日：2007-02-28
申请号：EP04776041.8
申请日：2004-05-17
Applicant: CSI WIRELESS INC.
Inventor： McCLURE, John A. , COLLINS, Dennis M. , TIMM, John, T. E.
CPC classification number: A01B69/008 , G01C21/00 , G05D1/027 , G05D1/0278 , G05D2201/0201
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.
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