Method and system for automatic control of vehicles based on carrier phase differential GPS

A method for controlling a ground vehicle using Carrier-Phase Differential GPS comprising the steps of:

• producing vehicle attitude measurements and vehicle carrier- and code-phase measurements with a GPS receiver on the basis of GPS signals received with a plurality of vehicle GPS antennas fixed to the vehicle at predetermined positions;
• producing reference carrier phase measurement and reference code differential correction using a ground reference station, the ground reference station including at least one reference GPS antenna and a GPS receiver coupled thereto;
• providing a wireless communication channel between the reference station and the vehicle;
• calculating values defining attitude of the vehicle using the phase differences of signals received at the GPS antennas, receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections;
• calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state;
• and
• selecting changing the state of the vehicle based on the control signal.

A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

• a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;
• GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;
• vehicle steering control means for selectively changing the state of the vehicle;
• a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;
• means for providing a wireless communications channel between the reference station and the vehicle;
• and
• processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state wherein the controller means dynamically recalculates vehicle state at successive measurement intervals.

A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

• a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;
• GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;
• vehicle steering control means for selectively changing the state of the vehicle;
• a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;
• means for providing a wireless communications channel between the reference station and the vehicle;
• and
• processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state, and means for initializing the system to obtain accurate vehicle position and attitude on the basis of the GPS signals.

A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

• a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;
• GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;
• vehicle steering control means for selectively changing the state of the vehicle including a first controller for relatively coarse steering adjustments and a second controller for relatively fine steering adjustment;
• a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;
• means for providing a wireless communications channel between the reference station and the vehicle;
• and processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code-phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state.

A method for controlling a ground vehicle using Carrier-Phase Differential GPS comprising the steps of:

• producing vehicle attitude measurements and vehicle carrier- and code-phase measurements with a GPS receiver on the basis of GPS signals received with a plurality of vehicle GPS antennas fixed to the vehicle at predetermined positions;
• producing reference carrier phase measurement and reference code differential corrections using a ground reference station, the ground station including at least one reference GPS antenna and a GPS receiver coupled thereto;
• providing a wireless communications channel between the reference station and the vehicle;
• receiving as input data the vehicle attitude measurements, the vehicle carrier- and code-phase measurements, the reference carrier phase measurements and reference code differential corrections;
• calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state;
• selectively changing the state of the vehicle based on the control signal;
• and
• adaptively identifying system parameters on the basis of the input data, wherein a system controller is dynamically recalculated at successive measurement intervals.