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1.发明授权System and method for interactive selection and determination of agricultural vehicle guide paths offset from each other with varying curvature along their length 有权用于交互式选择和确定农用车辆引导路径的系统和方法，其沿其长度具有不同的曲率彼此偏移公开(公告)号：US07451030B2
公开(公告)日：2008-11-11
申请号：US11051490
申请日：2005-02-04
CPC分类号： G05D1/0278 , A01B69/008 , G01S19/14 , G01S19/44 , G05D1/0221 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D2201/0201
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译： 一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。 在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。 该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。 重复该过程以计算第三和随后的路径以覆盖该场。 由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。 在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。 本发明的另一方面允许记录以模板形式提供场的覆盖的路径。 然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。
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公开(公告)号：US07339524B2
公开(公告)日：2008-03-04
申请号：US10909207
申请日：2004-07-30
申请人： Kurt R. Zimmerman , H. Stewart Cobb
发明人： Kurt R. Zimmerman , H. Stewart Cobb
IPC分类号： G01S3/02
摘要： In a local positioning system, a receiver is adapted for receiving signals from a land-based transmitter. The receiver includes an analog decorrelator for decorrelating the transmitted spread spectrum signals. A down converter connected with an antenna may be spaced away from other portions of the receiver. The down converter down converts received ranging signals and provides them to the remotely spaced receiver portions. A signal line connecting the down converter to the receiver may be operable to transmit any two or more of a reference signal provided to the down converter, the down converted intermediate frequency signals provided to the receiver, and power provided to the down converter. The receiver may be positioned adjacent to or as part of a land-based transmitter. By determining positions of two or more antennas, the location of the associated transmitter is determined.
摘要翻译： 在本地定位系统中，接收机适于接收来自陆基发射机的信号。 该接收机包括一个模拟解相关器，用于对发射的扩频信号进行去相关。 与天线连接的降压转换器可以与接收器的其它部分间隔开。 下变频器降低转换接收的测距信号并将其提供给远程间隔的接收机部分。 将下变频器连接到接收器的信号线可以用于发送提供给下变频器的参考信号，提供给接收机的下变频中频信号以及提供给下变频器的功率中的任何两个或多个。 接收器可以定位成与陆基发射器相邻或作为陆基发射器的一部分。 通过确定两个或更多个天线的位置，确定相关联的发射机的位置。
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公开(公告)号：US07271766B2
公开(公告)日：2007-09-18
申请号：US10909184
申请日：2004-07-30
摘要： In a local positioning system, augmentation of the land-based system is provided by receiving signals from a GNSS. The signals from the land-based positioning system have a code phase accuracy better than one wavelength of a carrier of the signals from the GNSS. Different decorrelation may be used for signals from a satellite than from a land-based transmitter, such as using a digital decorrelator for signals from the satellite and an analog decorrelator for signals from a land-based transmitter. The receivers may include both a GNSS antenna and a local antenna. The phase centers of the two antennas are within one wavelength of the GNSS signals from each other. The local antenna is sized for operation in the X or ISM-bands of frequencies. The GNSS antenna is a patch antenna where the microwave antenna extends away from the patch antenna in at least one dimension.
摘要翻译： 在本地定位系统中，通过从GNSS接收信号来提供陆基系统的增强。 来自陆上定位系统的信号的编码相位精度优于来自GNSS的信号的载波的一个波长。 不同的去相关可以用于来自卫星的信号，而不是来自基于陆地的发射机，例如对于来自卫星的信号使用数字解相关器和用于来自陆地发射机的信号的模拟去相关器。 接收机可以包括GNSS天线和本地天线。 两个天线的相位中心在GNSS信号的一个波长内。 本地天线的大小适合在X或ISM频段中运行。 GNSS天线是贴片天线，其中微波天线在至少一个维度上远离贴片天线延伸。
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公开(公告)号：US20070063896A1
公开(公告)日：2007-03-22
申请号：US11232394
申请日：2005-09-20
申请人： Santiago Alban , David Lawrence
发明人： Santiago Alban , David Lawrence
IPC分类号： G01S3/02
摘要： Troposphere corrections are provided in a land based transmitter-positioning system. Troposphere delays correct ranges based on X- or ISM-band carrier ranging signals with a modulation rate of the code of at least about 30 MHz. Ground based transmitters transmit non-GPS type ranging signals, and the receivers correct for troposphere delays. Troposphere delay corrections are applied to range estimates on each iteration of an iterative position-fix algorithm. Different models of troposphere corrections in a ground based ranging system may be used.
摘要翻译： 在陆基发射机定位系统中提供对流层校正。 对流层基于具有至少约30MHz的码的调制速率的X或ISM频带载波测距信号来延迟正确范围。 基于地面的发射机发射非GPS类型的测距信号，接收机校正对流层延迟。 对流层延迟校正应用于迭代位置修正算法的每次迭代的范围估计。 可以使用基于地面测距系统的不同对流层校正模型。
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公开(公告)号：US20060279461A1
公开(公告)日：2006-12-14
申请号：US11506625
申请日：2006-08-18
申请人： Kurt Zlmmerman , H. Cobb
发明人： Kurt Zlmmerman , H. Cobb
CPC分类号： G01S19/11 , G01S5/0009 , G01S19/36 , G01S19/37 , G01S19/41 , G01S19/44 , H01Q5/378 , H01Q5/40 , H01Q9/0414 , H01Q9/0464 , H01Q11/08
摘要： To provide sub-meter accuracy in a local positioning system, ranging signals with a high modulation rate of code, such as 30 MHz, or more are transmitted. Code phase measurements may be used to obtain the accuracy without requiring relative motion or real time kinematic processing. The ISM or X-band is used for the carrier of the code to provide sufficient bandwidth within available spectrums. The length of codes used is less than or about a longest length across the region of operation, such as less than 15 kilometers in an open pit mine. The spread spectrum codes from different land-based transmitters are transmitted in time slots pursuant to a time division multiple access scheme for an increase in dynamic range. To avoid overlapping of code from different transmitters, each time slot includes or is separated by a blanking period. The blanking period is selected to allow the transmitted signal to traverse a region of operation. Differential measurements of signals received at a base station and a mobile receiver may improve accuracy.
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公开(公告)号：US20050278119A1
公开(公告)日：2005-12-15
申请号：US11190640
申请日：2005-07-27
CPC分类号： G01S19/54 , G01C21/165 , G01S19/50
摘要： A satellite navigation system using multiple antennas for providing the position of multiple fiduciary points on an object even when fewer than four satellites are visible to some or all the antennas. Satellite signals from the multiple antennas are fed into at least one receiver. The receiver or receivers utilize constraint information, which is independent of the satellite signals. These external constraints are used to augment the signals received from the satellites, to obtain the position solution for each antenna. In a preferred embodiment, a common reference clock is used to provide an external constraint. Examples of other external constraints that can be used in the current invention are distance between the antennas, inertial measurement of attitude, rotational or linear position sensors, etc.
摘要翻译： 一种使用多个天线的卫星导航系统，用于在物体上提供多个受信点的位置，即使对于一些或所有天线可见少于四颗卫星。 来自多个天线的卫星信号被馈送到至少一个接收机。 接收机或接收机利用独立于卫星信号的约束信息。 这些外部约束用于增加从卫星接收的信号，以获得每个天线的位置解。 在优选实施例中，使用公共参考时钟来提供外部约束。 可以在本发明中使用的其他外部约束的示例是天线之间的距离，姿态的惯性测量，旋转或线性位置传感器等。
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公开(公告)号：US20110001668A1
公开(公告)日：2011-01-06
申请号：US11937247
申请日：2007-11-08
申请人： H. Stewart Cobb , David G. Lawrence
发明人： H. Stewart Cobb , David G. Lawrence
IPC分类号： G01S3/02
CPC分类号： G01S19/11
摘要： A “synchrolite” or rebroadcasting device allows GPS or GNSS navigation signals received at one or several locations to be processed at a separate location. The signals received by the synchrolite are added to a pilot tone and then encoded with a superimposed spread-spectrum code before being rebroadcast. The superimposed code allows signals from different synchrolites to be distinguished during the navigation process.
摘要翻译： “同步”或转播设备允许在一个或多个位置处接收的GPS或GNSS导航信号在单独的位置处理。 由同步器接收的信号被加到导频音，然后在重播之前用叠加的扩频码进行编码。 叠加的代码允许在导航过程中区分来自不同同步器的信号。
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8.发明授权Distributed radio frequency ranging signal receiver for navigation or position determination 有权分布式射频测距信号接收机，用于导航或位置确定公开(公告)号：US07532160B1
公开(公告)日：2009-05-12
申请号：US10909243
申请日：2004-07-30
摘要： In a local positioning system, a receiver is adapted for receiving signals from a land-based transmitter. The receiver includes an analog decorrelator for decorrelating the transmitted spread spectrum signals. A down converter connected with an antenna may be spaced away from other portions of the receiver. The down converter down converts received ranging signals and provides them to the remotely spaced receiver portions. A signal line connecting the down converter to the receiver may be operable to transmit any two or more of a reference signal provided to the down converter, the down converted intermediate frequency signals provided to the receiver, and power provided to the down converter. The receiver may be positioned adjacent to or as part of a land-based transmitter. By determining positions of two or more antennas, the location of the associated transmitter is determined.
摘要翻译： 在本地定位系统中，接收机适于接收来自陆基发射机的信号。 该接收机包括一个模拟解相关器，用于对发射的扩频信号进行去相关。 与天线连接的降压转换器可以与接收器的其它部分间隔开。 下变频器降低转换接收的测距信号并将其提供给远程间隔的接收机部分。 将下变频器连接到接收器的信号线可以用于发送提供给下变频器的参考信号，提供给接收机的下变频中频信号以及提供给下变频器的功率中的任何两个或多个。 接收器可以定位成与陆基发射器相邻或作为陆基发射器的一部分。 通过确定两个或更多个天线的位置，确定相关联的发射机的位置。
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公开(公告)号：US07489270B2
公开(公告)日：2009-02-10
申请号：US11106962
申请日：2005-04-15
摘要： A number of solutions for deriving the line bias are disclosed. Some of these solutions utilize signal processing and judicious selection of the frequency plan used in the position detection systems to either enable the derivation of the line bias, or make the measurements insensitive to line bias. In other examples, the present invention utilizes measurement schemes for deriving the line bias and enabling a position detection system to process line bias information in order to find a position solution.
摘要翻译： 公开了一些用于导出线偏压的解决方案。 这些解决方案中的一些利用位置检测系统中使用的频率计划的信号处理和明智的选择，以使得能够导出线偏压，或使测量对线偏压不敏感。 在其他示例中，本发明利用测量方案来导出线路偏置，并且使得位置检测系统能够处理线偏差信息以找到位置解。
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10.发明授权Multiple frequency antenna structures and methods for receiving navigation or ranging signals 有权用于接收导航或测距信号的多频天线结构和方法公开(公告)号：US07315278B1
公开(公告)日：2008-01-01
申请号：US10909140
申请日：2004-07-30
摘要： In a local positioning system, augmentation of the land-based system is provided by receiving signals from a GNSS. The signals from the land-based positioning system have a code phase accuracy better than one wavelength of a carrier of the signals from the GNSS. Different decorrelation may be used for signals from a satellite than from a land-based transmitter, such as using a digital decorrelator for signals from the satellite and an analog decorrelator for signals from a land-based transmitter. The receivers may include both a GNSS antenna and a local antenna. The phase centers of the two antennas are within one wavelength of the GNSS signals from each other. The local antenna is sized for operation in the X or ISM-bands of frequencies. The GNSS antenna is a patch antenna where the microwave antenna extends away from the patch antenna in at least one dimension.
摘要翻译： 在本地定位系统中，通过从GNSS接收信号来提供陆基系统的增强。 来自陆上定位系统的信号的编码相位精度优于来自GNSS的信号的载波的一个波长。 不同的去相关可以用于来自卫星的信号，而不是来自基于陆地的发射机，例如对于来自卫星的信号使用数字解相关器和用于来自陆地发射机的信号的模拟去相关器。 接收机可以包括GNSS天线和本地天线。 两个天线的相位中心在GNSS信号的一个波长内。 本地天线的大小适合在X或ISM频段中运行。 GNSS天线是贴片天线，其中微波天线在至少一个维度上远离贴片天线延伸。
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