Path planning based on obstruction mapping
AssigneeAGCO Corporation
InventorPaul Ross Matthews
Life of this patent
Estimating the term…
Abstract
In one embodiment, a method comprising, receiving a three-dimensional map of one or more obstructions associated with a field, the one or more obstructions presenting an obstacle to line of sight reception from a satellite to a global navigation satellite systems (GNSS) receiver; receiving almanac data corresponding to an orbit of the satellite; determining anticipated accuracy of positioning in the field at plural locations and plural times based on the almanac data and the map; and determining waylines for autonomous traversal through the field based on the anticipated accuracy at the plural locations and the plural times.
Claims20
A method, comprising:
- receiving a three-dimensional map of one or more obstructions associated with a field, the one or more obstructions presenting an obstacle to line of sight reception from a satellite to a global navigation satellite systems (GNSS) receiver;
- receiving almanac data corresponding to an orbit of the satellite;
- determining anticipated accuracy of positioning in the field at plural locations and plural times based on the almanac data and the map;
- and
- determining waylines for autonomous traversal through the field based on the anticipated accuracy at the plural locations and the plural times.
A system, comprising:
- a machine comprising a guidance system and a global navigation satellite system (GNSS) receiver, the GNSS receiver configured to receive almanac data corresponding to an orbit of a satellite;
- a computing device configured to:
- receive a three-dimensional map of one or more obstructions associated with a field, the one or more obstructions presenting an obstacle to line of sight reception from the satellite to the GNSS receiver;
- determine anticipated accuracy of positioning of the machine in the field at plural locations and plural times based on the almanac data and the map;
- and
- determine waylines for autonomous traversal through the field based on the anticipated accuracy at the plural locations and the plural times.
A machine, comprising:
- a guidance system;
- a global navigation satellite system (GNSS) receiver, the GNSS receiver configured to receive almanac data corresponding to an orbit of a satellite;
- and
- a computing device, the computing device configured to:
- receive a three-dimensional map of one or more obstructions associated with a field, the one or more obstructions presenting an obstacle to line of sight reception from the satellite to the GNSS receiver;
- determine anticipated accuracy of positioning of the machine in the field at plural locations and plural times based on the almanac data and the map;
- determine waylines based on the anticipated accuracy at the plural locations and the plural times;
- and
- provide the waylines for use in the guidance system.
Dependencies are inferred from the claim text.