US 7,065,440 B2 · Method and apparatus for steering movable object by using control algorithm that takes into account the difference between the nominal and optimum positions of navigation antenna

Abstract

A method of steering a vehicle along a predetermined, or real time path by using a steering control algorithm. The vehicle includes a navigation system and a navigation antenna. The navigation antenna is mounted on the vehicle at an optimum antenna position, whereas the steering control algorithm assumes a nominal antenna position at a predetermined reference point. The method comprises the following steps: (A) obtaining a set of positioning data of the vehicle by using the navigation system and by using the navigation antenna mounted at the optimum antenna position; (B) modifying the set of positioning data of the vehicle; (C) measuring a steering angle(s) of the front wheels of the vehicle relative to a predetermined reference direction(s); (D) calculating a correction(s) to the measured steering angle(s); and (E) performing a steering action by using the correction(s) to the measured steering angle(s) to move the vehicle along the predetermined, or real time path.

Claims52

Dependent claims

A method of steering a vehicle along a predetermined 2-D path on a 2-D plane by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;

said method comprising the steps of:
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position;
(B) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adjusted set of positioning data into said steering control algorithm;
(C) measuring a steering angle of the front wheels of said vehicle relative to a predetermined reference direction on said 2-D plane;
(D) calculating a correction to said measured steering angle on said 2-D plane;
and
(E) performing a steering action by using said correction to said measured steering angle on said 2-D plane in order to move said vehicle along said predetermined 2-D path on said 2-D plane.

4 more elements

A method of steering a vehicle along a predetermined 3-D path on a 3-D surface by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;

said method comprising the steps of:
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position;
(B) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adiusted set of positioning data into said steering control algorithm;
(C) measuring a set of steering angles on said 3-D surface;
(D) calculating a set of corrections to said set of measured steering angles on said 3-D surface;
and
(E) performing a steering action by using said set of corrections to said set of measured steering angles on said 3-D surface in order to move said vehicle along said predetermined 3-D path on said 3-D surface.

4 more elements

A method of steering a vehicle along a 2-D path on a 2-D plane by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;

said method comprising the steps of:
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position;
(B) obtaining a set of positioning data that defines said 2-D path on said 2-D plane;
(C) pre-adjusting said set of positioning data obtained in said step (A) and feeding said pre-adjusted set positioning data into said steering control algorithm;
(D) measuring a steering angle of the front wheels of said vehicle relative to a predetermined reference direction on said 2-D plane;
(E) calculating a correction to said measured steering angle on said 2-D plane;
and
(F) performing a steering action by using said correction to said measured steering angle on said 2-D plane in order to move said vehicle along said 2-D path on said 2-D plane.

5 more elements

A method of steering a vehicle along a 3-D path on a 3-D surface by using a steering control algorithm, said vehicle including a single navigation system and including a navigation antenna, said navigation antenna being mounted on said vehicle at an optimum antenna position, said steering control algorithm assuming a nominal antenna position at a predetermined reference point;

said method comprising the steps of:
(A) obtaining a set of positioning data of said vehicle by using said single navigation system and by using said navigation antenna mounted at said optimum antenna position;
(B) obtaining a set of positioning data that defines said 3-D path on said 3-D surface;
(C) pre-adjusting said set of positioning data obtained in said step (A) and feeding said set of pre-adjusted positioning data into said steering control algorithm;
(D) measuring a set of steering angles of the front wheels of said vehicle on said 3-D surface;
(E) calculating a set of corrections to said set of measured steering angles on said 3-D surface;
and
(F) performing a steering action by using said set of corrections to said set of measured steering angles on said 3-D surface in order to move said vehicle along said 3-D path on said 3-D surface.

5 more elements

An apparatus for steering a vehicle along a predetermined 3-D path on a 3-D surface comprising:

(A) a single positioning means for obtaining a set of positioning data of said vehicle;
(B) a means for pre-adjusting said set of positioning data of said vehicle;
(C) a 3-D means for measuring a set of steering angles of the front wheels of said vehicle relative to a predetermined reference direction on said 3-D surface;
(D) a means for calculating a set of corrections to said set of measured steering angles on said 3-D surface;
and
(E) a means for performing a steering action by using said set of corrections to said set of measured steering angles on said 3-D surface in order to move said vehicle along said predetermined 3-D path on said 3-D surface.

3 more elements

Dependencies are inferred from the claim text.

Method and apparatus for steering movable object by using control algorithm that takes into account the difference between the nominal and optimum positions of navigation antenna

Life of this patent

Method and apparatus for steering movable object by using control algorithm that takes into account the difference between the nominal and optimum positions of navigation antenna

Life of this patent

Abstract

Claims52