Combined GNSS gyroscope control system and method

A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:

• computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro;
• computing a steering control command;
• applying selected control values to the vehicle steering control mechanism;
• basing the steering control command on a first proportionality factor multiplied by a difference in a desired position versus an actual position plus a second proportionality factor multiplied by a difference in a desired heading versus an actual heading, said second proportionality factor insuring that when said vehicle attains said desired position the vehicle is also directed to said desired heading, and thereby avoids crossing a desired track;
• using a recursive, adaptive algorithm to characterize the vehicle response and selected dynamic characteristics;
• calculating response times and characteristics for the vehicle based on said responses;
• calibrating said steering control commands command by applying a modified control command based on said responses to achieve a desired response;
• providing a wheel sensor;
• tracking vehicle wheel velocity with said wheel sensor;
• providing a steering sensor;
• monitoring wheel direction with said steering sensor;
• providing adaptive control loops for the steering control command;
• providing limits and assistance in closing tracking loops with said wheel velocity and direction;
• comparing the GNSS-based and gyro-based position and heading for the vehicle with the wheel velocity and direction to model the slippage and the steering rate conditions to enhance the adaptive control loops;
• providing said vehicle with a sprayer including multiple spray nozzles or applicators for applying material to a surface;
• applying materials using the rate of change of tilt to adjust spray nozzle or applicator rates to compensate for roll or tilt of terrain;
• and
• varying the rates of application of the nozzles or applicators based on turn rates derived by the gyros and the GNSS multiple antenna system to apply materials in a desired rate.

A sensor system for controlling a vehicle steering system, which sensor system comprises:

• a global navigation satellite sensor (GNSS) attitude subsystem including at least one receiver and multiple antennas connected to said receiver or receivers at a fixed spacing, said GNSS attitude subsystem computing vehicle position and attitude using measured GNSS carrier phase differences;
• a yaw gyroscope connected to said GNSS attitude subsystem and configured to derive and provide outputs including yaw angles and angular rates of change;
• said yaw gyroscope being configured for calibration and initialization using said GNSS-derived attitude;
• and
• a steering control subsystem connected to said yaw gyroscope and said GNSS attitude subsystem and using said yaw angle and yaw angle rate of change outputs from said yaw gyroscope for computing and outputting steering control commands to the vehicle steering system from the current position and heading to a desired position and heading.

A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:

• computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro;
• computing a steering control command using said vehicle position and heading;
• applying said steering control command to the vehicle steering mechanism;
• providing the vehicle steering control mechanism with a control value corresponding to the performance of the vehicle;
• steering said vehicle with said steering control mechanism utilizing said steering control command and said control value;
• and
• providing said vehicle with a sprayer including multiple spray nozzles or applicators for applying material to a surface;
• and
• applying material using a rate of change of terrain tilt to adjust spray nozzle or applicator rates to compensate for terrain tilt.

A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:

• computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro;
• computing a steering control command using said vehicle position and heading;
• applying said steering control command to the vehicle steering mechanism;
• providing the vehicle steering control mechanism with a control value corresponding to the performance of the vehicle;
• steering said vehicle with said steering control mechanism utilizing said steering control command and said control value;
• and
• providing the vehicle with a tow vehicle and an implement connected to the tow vehicle by an articulated connection;
• providing said implement with an implement attitude subsystem including a GNSS receiver and at least two GNSS antennas spaced apart in a fixed, predetermined relation by a rigid link;
• providing said implement attitude subsystem with yaw and roll gyroscopes adapted for measuring rates of yaw and roll attitude change for said implement;
• calculating the implement's attitude values including tilt, slew, heading, yaw rate and roll rate with output from said implement GNSS receiver and said gyroscopes;
• and
• correcting the implement's travel path with the vehicle steering mechanism using said calculated implement attitude values.

A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of:

• computing a position and a heading for the vehicle using a GNSS multiple antenna system
• computing a steering control command using said vehicle position and heading;
• applying said steering control command to the vehicle steering mechanism;
• providing the vehicle steering control mechanism with a control value corresponding to the performance of the vehicle;
• steering said vehicle with said steering control mechanism utilizing said steering control command and said control value;
• and
• computing vehicle position and attitude with a GNSS attitude subsystem multi-antenna system using measured GNSS carrier phase differences;
• providing a yaw gyroscope connected to said GNSS attitude subsystem;
• calibrating and initializing said yaw gyroscope with said GNSS-derived attitude;
• configuring said yaw gyroscope to derive and provide an output including a yaw angle and a yaw angle rate of change and deriving and providing such output;
• and
• using yaw angle and said yaw angle rate of change outputs from said yaw gyroscope for computing and outputting steering control commands to the vehicle steering system from the current position and heading to a desired position and heading.