Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Construction or agricultural-type vehicle
Reexamination Certificate
2004-03-19
2008-10-14
Tran, Khoi H. (Department: 3664)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Construction or agricultural-type vehicle
C701S023000, C701S221000, C701S213000
Reexamination Certificate
active
07437230
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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Collins Dennis M.
McClure John A.
Timm John T. E.
Broadhead Brian J.
Hemisphere GPS LLC
Tran Khoi H.
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