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公开(公告)号：US20100109944A1
公开(公告)日：2010-05-06
申请号：US12683994
申请日：2010-01-07
CPC分类号： G01C15/00 , G01S5/0063 , G01S19/14 , G01S19/36 , G01S19/53 , G05D1/0206 , G05D1/0259 , G05D1/0278
摘要： A multi-antenna GNSS system and method provide earth-referenced GNSS heading and position solutions. The system and method compensate for partial blocking of the antennas by using a known attitude or orientation of the structure, which can be determined by an orientation device or with GNSS measurements. Multiple receiver units can optionally be provided and can share a common clock signal for processing multiple GNSS signals in unison. The system can optionally be installed on fixed or slow-moving structures, such as dams and marine vessels, and on mobile structures such as terrestrial vehicles and aircraft.
摘要翻译： 多天线GNSS系统和方法提供地球参考的GNSS航向和位置解决方案。 该系统和方法通过使用结构的已知姿态或取向来补偿天线的部分阻塞，其可以由定向装置或通过GNSS测量来确定。 可以可选地提供多个接收器单元，并且可以共享用于一致地处理多个GNSS信号的公共时钟信号。 该系统可以可选地安装在固定或缓慢移动的结构上，例如大坝和海洋船舶，以及移动结构，如陆地车辆和飞机上。
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公开(公告)号：US20120174445A1
公开(公告)日：2012-07-12
申请号：US13426395
申请日：2012-03-21
CPC分类号： A01B69/007 , A01B69/004 , A01B79/005 , G01S19/04 , G01S19/14 , G01S19/41 , G01S19/44 , G01S19/53 , G01S19/55 , G05D1/027 , G05D1/0274 , G05D1/0278 , 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. 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 snow grooming 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。 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，引导多个车辆和相对于彼此的设备，以及雪地修理设备和方法应用。
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3.发明申请公开(公告)号：US20090322600A1
公开(公告)日：2009-12-31
申请号：US12554741
申请日：2009-09-04
IPC分类号： G01S1/00
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。
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公开(公告)号：US08583315B2
公开(公告)日：2013-11-12
申请号：US12938049
申请日：2010-11-02
IPC分类号： G01C21/00
CPC分类号： A01B79/005 , A01B69/007 , G01S5/0063 , G01S5/0247 , G01S19/14 , G01S19/35 , G01S19/43 , 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. 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.
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。 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。
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5.发明申请公开(公告)号：US20130142295A1
公开(公告)日：2013-06-06
申请号：US13705018
申请日：2012-12-04
IPC分类号： H04B15/00
摘要： An RF (e.g., GNSS) interference mitigation system and method uses a switchable bank of filters for selectively blocking signals in predetermined bandwidths based on detecting strong, interfering signals with an interference detection circuit including a sniffer antenna. A low-strength RF (e.g., GNSS) system can be combined with a spectrally-close high-strength, telecommunications receiver system for cooperative control. Alternatively, an RF receiver can detect tones, changes in DC bias or level changes to activate a filter selection switch.
摘要翻译： RF（例如，GNSS）干扰减轻系统和方法使用可切换的滤波器组，用于基于使用包括嗅探天线的干扰检测电路检测强的干扰信号来选择性地阻挡预定带宽中的信号。 低强度RF（例如，GNSS）系统可以与光谱密集的高强度电信接收机系统组合以进行协同控制。 或者，RF接收机可以检测音调，DC偏置的变化或电平变化以激活滤波器选择开关。
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公开(公告)号：US08140223B2
公开(公告)日：2012-03-20
申请号：US12355776
申请日：2009-01-17
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。
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公开(公告)号：US08686900B2
公开(公告)日：2014-04-01
申请号：US12350431
申请日：2009-01-08
CPC分类号： G01S19/43 , A01B69/008 , G01S5/0036 , G01S19/14 , G01S19/36 , G01S19/51 , G01S19/53 , G01S19/54 , G05D1/0206 , G05D1/027 , G05D1/0278 , G05D1/101 , G05D2201/0201 , G05D2201/0213
摘要： A multi-antenna GNSS system and method provide earth-referenced GNSS heading and position solutions. The system and method compensate for partial blocking of the antennas by using a known attitude or orientation of the structure, which can be determined by an orientation device or with GNSS measurements. Multiple receiver units can optionally be provided and can share a common clock signal for processing multiple GNSS signals in unison. The system can optionally be installed on fixed or slow-moving structures, such as dams and marine vessels, and on mobile structures such as terrestrial vehicles and aircraft.
摘要翻译： 多天线GNSS系统和方法提供地球参考的GNSS航向和位置解决方案。 该系统和方法通过使用结构的已知姿态或取向来补偿天线的部分阻塞，其可以由定向装置或通过GNSS测量来确定。 可以可选地提供多个接收器单元，并且可以共享用于一致地处理多个GNSS信号的公共时钟信号。 该系统可以可选地安装在固定或缓慢移动的结构上，例如大坝和海洋船舶，以及移动结构，如陆地车辆和飞机上。
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公开(公告)号：US08639416B2
公开(公告)日：2014-01-28
申请号：US13426395
申请日：2012-03-21
CPC分类号： A01B69/007 , A01B69/004 , A01B79/005 , G01S19/04 , G01S19/14 , G01S19/41 , G01S19/44 , G01S19/53 , G01S19/55 , G05D1/027 , G05D1/0274 , G05D1/0278 , 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. 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 snow grooming 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。 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，引导多个车辆和相对于彼此的设备，以及雪地修理设备和方法应用。
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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。
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公开(公告)号：US20110054729A1
公开(公告)日：2011-03-03
申请号：US12938049
申请日：2010-11-02
CPC分类号： A01B79/005 , A01B69/007 , G01S5/0063 , G01S5/0247 , G01S19/14 , G01S19/35 , G01S19/43 , 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, articulated implements with multiple antennas on each implement section, video input 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，在每个实施部分上具有多个天线的关节工具，视频输入和引导多个车辆和相对于彼此的设备。
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