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    Method and system using GNSS phase measurements for relative positioning
    5.
    发明授权
    Method and system using GNSS phase measurements for relative positioning 有权
    使用GNSS相位测量的方法和系统进行相对定位

    公开(公告)号：US08271194B2

    公开(公告)日：2012-09-18

    申请号：US12554741

    申请日：2009-09-04

    申请人： Michael L. Whitehead ,  Steven R. Miller ,  John A. McClure ,  Cary Davis ,  Walter J. Feller

    发明人： Michael L. Whitehead ,  Steven R. Miller ,  John A. McClure ,  Cary Davis ,  Walter J. Feller

    IPC分类号： G01C21/00

    CPC分类号： G01C15/00 ,  G01S5/0063 ,  G01S19/14 ,  G01S19/36 ,  G01S19/53 ,  G05D1/0206 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278

    摘要： A method for locating GNSS-defined points, distances, directional attitudes and closed geometric shapes includes the steps of providing a base with a base GNSS antenna and providing a rover with a rover GNSS antenna and receiver. The receiver is connected to the rover GNSS antenna and is connected to the base GNSS antenna by an RF cable. The receiver thereby simultaneously processes signals received at the antennas. The method includes determining a vector directional arrow from the differential positions of the antennas and calculating a distance between the antennas, which can be sequentially chained together for determining a cumulative distance in a “digital tape measure” mode of operation. A localized RTK surveying method uses the rover antenna for determining relative or absolute point locations. A system includes a base with an antenna, a rover with an antenna and a receiver, with the receiver being connected to the antennas. A processor is provided for computing positions, directional vectors, areas and other related tasks.

    摘要翻译： 用于定位GNSS定义的点，距离，方向态度和闭合的几何形状的方法包括以下步骤：向基站提供基站GNSS天线并向流动站提供流动站GNSS天线和接收机。 接收机连接到漫游器GNSS天线，并通过RF电缆连接到基站GNSS天线。 接收器由此同时处理在天线处接收到的信号。 该方法包括从天线的差分位置确定矢量方向箭头并计算天线之间的距离，其可以被连续地链接在一起以确定“数字卷尺”操作模式中的累积距离。 本地RTK测量方法使用流动站天线来确定相对位置或绝对点位置。 系统包括具有天线的基座，具有天线的漫游器和接收器，接收器连接到天线。 提供了一种用于计算位置，方向向量，区域和其他相关任务的处理器。

    GNSS GUIDANCE AND MACHINE CONTROL
    6.
    发明申请
    GNSS GUIDANCE AND MACHINE CONTROL 有权
    GNSS指导和机器控制

    公开(公告)号：US20100312428A1

    公开(公告)日：2010-12-09

    申请号：US12857298

    申请日：2010-08-16

    申请人： André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead ,  John A. McClure ,  Steven R. Miller

    发明人： André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead ,  John A. McClure ,  Steven R. Miller

    IPC分类号： G05D1/00 ,  G01S19/42 ,  G01S19/41 ,  G06F9/44

    CPC分类号： A01B79/005 ,  A01B69/007 ,  G01S19/04 ,  G01S19/14 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0291 ,  G05D2201/0201 ,  G05D2201/0202

    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 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. 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. 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. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other and earth-moving equipment and method applications.

    摘要翻译： 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和侧倾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。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 车辆控制方法包括以下步骤：使用GNSS定位来计算车辆的位置和航向，以及用于确定用于产生转向命令的车辆姿态的速率陀螺仪。 替代方面包括用于高动态滚动补偿的多天线GNSS指导方法，使用单频（L1）接收机的实时运动学（RTK），天线之间的固定和移动基线，多位置GNSS尾部指导（“面包屑跟踪” ）用于交叉错误校正，引导多个车辆和设备相对于彼此和移动设备和方法应用。

    MULTIPLE-ANTENNA GNSS CONTROL SYSTEM AND METHOD
    7.
    发明申请
    MULTIPLE-ANTENNA GNSS CONTROL SYSTEM AND METHOD 有权
    多天线GNSS控制系统及方法

    公开(公告)号：US20090164067A1

    公开(公告)日：2009-06-25

    申请号：US12355776

    申请日：2009-01-17

    申请人： Michael L. Whitehead ,  Walter J. Feller ,  John A. McClure ,  Steven R. Miller

    发明人： Michael L. Whitehead ,  Walter J. Feller ,  John A. McClure ,  Steven R. Miller

    IPC分类号： G01C21/28

    CPC分类号： G01C15/00 ,  A01B79/005 ,  G01S5/0063 ,  G01S5/0247 ,  G01S19/14 ,  G01S19/53 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201

    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 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. 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. 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. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction and guiding multiple vehicles and pieces of equipment relative to each other.

    摘要翻译： 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和侧倾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。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 车辆控制方法包括以下步骤：使用GNSS定位来计算车辆的位置和航向，以及用于确定用于产生转向命令的车辆姿态的速率陀螺仪。 替代方面包括用于高动态滚动补偿的多天线GNSS指导方法，使用单频（L1）接收机的实时运动学（RTK），天线之间的固定和移动基线，多位置GNSS尾部指导（“面包屑跟踪” ），用于交叉错误校正，并相对于彼此引导多个车辆和设备。

    Multiple-antenna GNSS control system and method
    9.
    发明授权
    Multiple-antenna GNSS control system and method 有权
    多天线GNSS控制系统及方法

    公开(公告)号：US08140223B2

    公开(公告)日：2012-03-20

    申请号：US12355776

    申请日：2009-01-17

    申请人： Michael L. Whitehead ,  Walter J. Feller ,  John A. McClure ,  Steven R. Miller

    发明人： Michael L. Whitehead ,  Walter J. Feller ,  John A. McClure ,  Steven R. Miller

    IPC分类号： G01C21/28

    CPC分类号： G01C15/00 ,  A01B79/005 ,  G01S5/0063 ,  G01S5/0247 ,  G01S19/14 ,  G01S19/53 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201

    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 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. 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. 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. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction and guiding multiple vehicles and pieces of equipment relative to each other.

    摘要翻译： 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和侧倾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。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 车辆控制方法包括以下步骤：使用GNSS定位来计算车辆的位置和航向，以及用于确定用于产生转向命令的车辆姿态的速率陀螺仪。 替代方面包括用于高动态滚动补偿的多天线GNSS指导方法，使用单频（L1）接收机的实时运动学（RTK），天线之间的固定和移动基线，多位置GNSS尾部指导（“面包屑跟踪” ），用于交叉错误校正，并相对于彼此引导多个车辆和设备。

    GNSS guidance and machine control
    10.
    发明授权
    GNSS guidance and machine control 有权
    GNSS导航和机器控制

    公开(公告)号：US08594879B2

    公开(公告)日：2013-11-26

    申请号：US12857298

    申请日：2010-08-16

    申请人： André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead ,  John A. McClure ,  Steven R. Miller

    发明人： André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead ,  John A. McClure ,  Steven R. Miller

    IPC分类号： G01S19/41

    CPC分类号： A01B79/005 ,  A01B69/007 ,  G01S19/04 ,  G01S19/14 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0291 ,  G05D2201/0201 ,  G05D2201/0202

    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 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. 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. 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. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other and earth-moving equipment and method applications.

    摘要翻译： 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和侧倾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。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 车辆控制方法包括以下步骤：使用GNSS定位来计算车辆的位置和航向，以及用于确定用于产生转向命令的车辆姿态的速率陀螺仪。 替代方面包括用于高动态滚动补偿的多天线GNSS指导方法，使用单频（L1）接收机的实时运动学（RTK），天线之间的固定和移动基线，多位置GNSS尾部指导（“面包屑跟踪” ）用于交叉错误校正，引导多个车辆和设备相对于彼此和移动设备和方法应用。