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.

IPC: G05D1/02 ,  A01B69/00 ,  G01S5/14 ,  G01C21/16

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.